jsk_pcl_ros::SnapIt Class Reference

#include <snapit.h>

Inheritance diagram for jsk_pcl_ros::SnapIt:

Public Types
typedef message_filters::sync_policies::ExactTime< jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray >	SyncPolygonPolicy

Public Member Functions
	SnapIt ()
virtual	~SnapIt ()

Protected Member Functions
virtual geometry_msgs::PoseStamped	alignPose (Eigen::Affine3f &pose, jsk_recognition_utils::ConvexPolygon::Ptr convex)
virtual void	convexAlignCallback (const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
virtual void	convexAlignPolygonCallback (const geometry_msgs::PolygonStamped::ConstPtr &poly_msg)
virtual std::vector< jsk_recognition_utils::ConvexPolygon::Ptr >	createConvexes (const std::string &frame_id, const ros::Time &stamp, jsk_recognition_msgs::PolygonArray::ConstPtr polygons)
virtual int	findNearestConvex (const Eigen::Vector3f &pose_point, const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &convexes)
virtual bool	footstepAlignServiceCallback (jsk_recognition_msgs::SnapFootstep::Request &req, jsk_recognition_msgs::SnapFootstep::Response &res)
virtual void	onInit ()
virtual void	polygonAlignCallback (const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
virtual void	polygonCallback (const jsk_recognition_msgs::PolygonArray::ConstPtr &polygon_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_msg)
virtual void	subscribe ()
virtual void	unsubscribe ()

Protected Attributes
ros::ServiceServer	align_footstep_srv_
ros::Subscriber	convex_align_polygon_sub_
ros::Subscriber	convex_align_sub_
ros::Publisher	convex_aligned_pose_array_marker_pub_
ros::Publisher	convex_aligned_pose_array_pub_
ros::Publisher	convex_aligned_pub_
boost::mutex	mutex_
ros::Subscriber	polygon_align_sub_
ros::Publisher	polygon_aligned_pub_
jsk_recognition_msgs::PolygonArray::ConstPtr	polygons_
message_filters::Subscriber< jsk_recognition_msgs::ModelCoefficientsArray >	sub_coefficients_
message_filters::Subscriber< jsk_recognition_msgs::PolygonArray >	sub_polygons_
boost::shared_ptr< message_filters::Synchronizer< SyncPolygonPolicy > >	sync_polygon_
tf::TransformListener *	tf_listener_
bool	use_service_

Detailed Description

Definition at line 90 of file snapit.h.

Member Typedef Documentation

SyncPolygonPolicy

typedef message_filters::sync_policies::ExactTime< jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::SnapIt::SyncPolygonPolicy

Definition at line 127 of file snapit.h.

Constructor & Destructor Documentation

SnapIt()

jsk_pcl_ros::SnapIt::SnapIt ( )

inline

Definition at line 128 of file snapit.h.

~SnapIt()

jsk_pcl_ros::SnapIt::~SnapIt ( )

virtual

Definition at line 110 of file snapit_nodelet.cpp.

Member Function Documentation

alignPose()

geometry_msgs::PoseStamped jsk_pcl_ros::SnapIt::alignPose ( Eigen::Affine3f &  pose, jsk_recognition_utils::ConvexPolygon::Ptr  convex  )

protectedvirtual

Definition at line 320 of file snapit_nodelet.cpp.

convexAlignCallback()

void jsk_pcl_ros::SnapIt::convexAlignCallback ( const geometry_msgs::PoseStamped::ConstPtr &  pose_msg )

protectedvirtual

Definition at line 290 of file snapit_nodelet.cpp.

convexAlignPolygonCallback()

void jsk_pcl_ros::SnapIt::convexAlignPolygonCallback ( const geometry_msgs::PolygonStamped::ConstPtr &  poly_msg )

protectedvirtual

Definition at line 235 of file snapit_nodelet.cpp.

createConvexes()

std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > jsk_pcl_ros::SnapIt::createConvexes ( const std::string &  frame_id, const ros::Time &  stamp, jsk_recognition_msgs::PolygonArray::ConstPtr  polygons  )

protectedvirtual

Definition at line 347 of file snapit_nodelet.cpp.

findNearestConvex()

int jsk_pcl_ros::SnapIt::findNearestConvex ( const Eigen::Vector3f &  pose_point, const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &  convexes  )

protectedvirtual

Definition at line 269 of file snapit_nodelet.cpp.

footstepAlignServiceCallback()

bool jsk_pcl_ros::SnapIt::footstepAlignServiceCallback ( jsk_recognition_msgs::SnapFootstep::Request &  req, jsk_recognition_msgs::SnapFootstep::Response &  res  )

protectedvirtual

Definition at line 198 of file snapit_nodelet.cpp.

onInit()

void jsk_pcl_ros::SnapIt::onInit ( )

protectedvirtual

Definition at line 91 of file snapit_nodelet.cpp.

polygonAlignCallback()

void jsk_pcl_ros::SnapIt::polygonAlignCallback ( const geometry_msgs::PoseStamped::ConstPtr &  pose_msg )

protectedvirtual

Definition at line 159 of file snapit_nodelet.cpp.

polygonCallback()

void jsk_pcl_ros::SnapIt::polygonCallback ( const jsk_recognition_msgs::PolygonArray::ConstPtr &  polygon_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &  coefficients_msg  )

protectedvirtual

Definition at line 150 of file snapit_nodelet.cpp.

subscribe()

void jsk_pcl_ros::SnapIt::subscribe ( )

protectedvirtual

Definition at line 121 of file snapit_nodelet.cpp.

unsubscribe()

void jsk_pcl_ros::SnapIt::unsubscribe ( )

protectedvirtual

Definition at line 139 of file snapit_nodelet.cpp.

Member Data Documentation

align_footstep_srv_

ros::ServiceServer jsk_pcl_ros::SnapIt::align_footstep_srv_

protected

Definition at line 172 of file snapit.h.

convex_align_polygon_sub_

ros::Subscriber jsk_pcl_ros::SnapIt::convex_align_polygon_sub_

protected

Definition at line 170 of file snapit.h.

convex_align_sub_

ros::Subscriber jsk_pcl_ros::SnapIt::convex_align_sub_

protected

Definition at line 169 of file snapit.h.

convex_aligned_pose_array_marker_pub_

ros::Publisher jsk_pcl_ros::SnapIt::convex_aligned_pose_array_marker_pub_

protected

Definition at line 167 of file snapit.h.

convex_aligned_pose_array_pub_

ros::Publisher jsk_pcl_ros::SnapIt::convex_aligned_pose_array_pub_

protected

Definition at line 166 of file snapit.h.

convex_aligned_pub_

ros::Publisher jsk_pcl_ros::SnapIt::convex_aligned_pub_

protected

Definition at line 165 of file snapit.h.

mutex_

boost::mutex jsk_pcl_ros::SnapIt::mutex_

protected

Definition at line 174 of file snapit.h.

polygon_align_sub_

ros::Subscriber jsk_pcl_ros::SnapIt::polygon_align_sub_

protected

Definition at line 168 of file snapit.h.

polygon_aligned_pub_

ros::Publisher jsk_pcl_ros::SnapIt::polygon_aligned_pub_

protected

Definition at line 164 of file snapit.h.

polygons_

jsk_recognition_msgs::PolygonArray::ConstPtr jsk_pcl_ros::SnapIt::polygons_

protected

Definition at line 173 of file snapit.h.

sub_coefficients_

message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::SnapIt::sub_coefficients_

protected

Definition at line 162 of file snapit.h.

sub_polygons_

message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> jsk_pcl_ros::SnapIt::sub_polygons_

protected

Definition at line 161 of file snapit.h.

sync_polygon_

boost::shared_ptr<message_filters::Synchronizer<SyncPolygonPolicy> > jsk_pcl_ros::SnapIt::sync_polygon_

protected

Definition at line 163 of file snapit.h.

tf_listener_

tf::TransformListener* jsk_pcl_ros::SnapIt::tf_listener_

protected

Definition at line 160 of file snapit.h.

use_service_

bool jsk_pcl_ros::SnapIt::use_service_

protected

Definition at line 171 of file snapit.h.

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The documentation for this class was generated from the following files:

• snapit.h
• snapit_nodelet.cpp