next_best_view::NextBestView Class Reference

NextBestView is a configuration class of the related node. More...

#include <NextBestView.hpp>

Public Member Functions
CameraModelFilterAbstractFactoryPtr	createCameraModelFromConfig (int moduleId)
HypothesisUpdaterAbstractFactoryPtr	createHypothesisUpdaterFromConfig (int moduleId)
RatingModuleAbstractFactoryPtr	createRatingModuleFromConfig (int moduleId)
robot_model_services::RobotModelAbstractFactoryPtr	createRobotModelFromConfig (int moduleId)
SpaceSamplerAbstractFactoryPtr	createSpaceSamplerFromConfig (int moduleId)
UnitSphereSamplerAbstractFactoryPtr	createSphereSamplerFromConfig (int moduleId)
void	dynamicReconfigureCallback (asr_next_best_view::DynamicParametersConfig &config, uint32_t level)
NextBestViewCalculator &	getCalculator ()
void	getIndicesOutsideFrustum (const ViewportPoint &viewport, Indices &resultIndices)
std::map< std::string, std::string >	getMeshResources (ObjectPointCloud objectPointCloud)
void	initialize ()
	NextBestView ()
	Creates an instance of the NextBestView class. More...
bool	processGetNextBestViewServiceCall (asr_next_best_view::GetNextBestView::Request &request, asr_next_best_view::GetNextBestView::Response &response)
bool	processGetPointCloudServiceCall (asr_next_best_view::GetAttributedPointCloud::Request &request, asr_next_best_view::GetAttributedPointCloud::Response &response)
bool	processRateViewports (asr_next_best_view::RateViewports::Request &request, asr_next_best_view::RateViewports::Response &response)
bool	processRemoveObjects (asr_next_best_view::RemoveObjects::Request &request, asr_next_best_view::RemoveObjects::Response &response)
bool	processResetCalculatorServiceCall (asr_next_best_view::ResetCalculator::Request &request, asr_next_best_view::ResetCalculator::Response &response)
bool	processSetInitRobotStateServiceCall (asr_next_best_view::SetInitRobotState::Request &request, asr_next_best_view::SetInitRobotState::Response &response)
bool	processSetPointCloudServiceCall (asr_next_best_view::SetAttributedPointCloud::Request &request, asr_next_best_view::SetAttributedPointCloud::Response &response)
bool	processTriggerFrustumsAndPointCloudVisualization (asr_next_best_view::TriggerFrustumsAndPointCloudVisualization::Request &request, asr_next_best_view::TriggerFrustumsAndPointCloudVisualization::Response &response)
bool	processTriggerFrustumVisualization (asr_next_best_view::TriggerFrustumVisualization::Request &request, asr_next_best_view::TriggerFrustumVisualization::Response &response)
bool	processTriggerOldFrustumVisualization (asr_next_best_view::TriggerFrustumVisualization::Request &request, asr_next_best_view::TriggerFrustumVisualization::Response &response)
bool	processUpdatePointCloudServiceCall (asr_next_best_view::UpdatePointCloud::Request &request, asr_next_best_view::UpdatePointCloud::Response &response)
void	publishNewPointCloudVisualization ()
void	publishPointCloudNormals ()
void	publishVisualization (ViewportPoint viewport, bool publishFrustum)
	Publishes the Visualization of the NextBestView. More...
bool	triggerVisualization ()
bool	triggerVisualization (ViewportPoint viewport)
virtual	~NextBestView ()

Static Public Member Functions
static void	convertObjectPointCloudToAttributedPointCloud (const ObjectPointCloud &pointCloud, asr_msgs::AsrAttributedPointCloud &pointCloudMessage, uint minNumberNormals)

Private Types
enum	ConfigLevelType {   parameterConfig = 0b1 << 0, sphereSamplingConfig = 0b1 << 1, mapHelperConfig = 0b1 << 2, spaceSamplingConfig = (0b1 << 3) | mapHelperConfig,   cameraModelConfig = (0b1 << 4) | mapHelperConfig, robotModelConfig = (0b1 << 5) | mapHelperConfig, ratingConfig = (0b1 << 6) | robotModelConfig | cameraModelConfig, hypothesisUpdaterConfig = (0b1 << 7) | ratingConfig,   cropboxFileConfig = 0b1 << 8, worldHelperConfig = mapHelperConfig }

Private Attributes
NextBestViewCalculator	mCalculator
CameraModelFilterAbstractFactoryPtr	mCameraModelFactoryPtr
asr_next_best_view::DynamicParametersConfig	mConfig
uint32_t	mConfigLevel
ViewportPoint	mCurrentCameraViewport
bool	mCurrentlyPublishingVisualization
DebugHelperPtr	mDebugHelperPtr
dynamic_reconfigure::Server< asr_next_best_view::DynamicParametersConfig >	mDynamicReconfigServer
bool	mFirstRun
ros::ServiceServer	mGetNextBestViewServiceServer
ros::ServiceServer	mGetPointCloudServiceServer
ros::NodeHandle	mGlobalNodeHandle
HypothesisUpdaterAbstractFactoryPtr	mHypothesisUpdaterFactoryPtr
MapHelperPtr	mMapHelperPtr
ros::NodeHandle	mNodeHandle
ros::ServiceServer	mRateViewportsServer
RatingModuleAbstractFactoryPtr	mRatingModuleFactoryPtr
ros::ServiceServer	mRemoveObjectsServer
ros::ServiceServer	mResetCalculatorServer
robot_model_services::RobotModelAbstractFactoryPtr	mRobotModelFactoryPtr
ros::ServiceServer	mSetInitRobotStateServiceServer
ros::ServiceServer	mSetPointCloudServiceServer
bool	mShowFrustumMarkerArray
bool	mShowFrustumPointCloud
bool	mShowNormals
bool	mShowPointcloud
SpaceSamplerAbstractFactoryPtr	mSpaceSampleFactoryPtr
UnitSphereSamplerAbstractFactoryPtr	mSphereSamplerFactoryPtr
ros::ServiceServer	mTriggerFrustmsAndPointCloudVisualizationServer
ros::ServiceServer	mTriggerFrustumVisualizationServer
ros::ServiceServer	mTriggerOldFrustumVisualizationServer
ros::ServiceServer	mUpdatePointCloudServiceServer
VisualizationHelperPtr	mVisHelperPtr
boost::shared_ptr< boost::thread >	mVisualizationThread

Detailed Description

NextBestView is a configuration class of the related node.

NextBestView provides services and publishers for the next_best_view Node and also saves data structures which are needed for node-wide purposes.

Definition at line 97 of file NextBestView.hpp.

Member Enumeration Documentation

ConfigLevelType

enum next_best_view::NextBestView::ConfigLevelType

private

Enumerator
parameterConfig
sphereSamplingConfig
mapHelperConfig
spaceSamplingConfig
cameraModelConfig
robotModelConfig
ratingConfig
hypothesisUpdaterConfig
cropboxFileConfig
worldHelperConfig

Definition at line 135 of file NextBestView.hpp.

Constructor & Destructor Documentation

NextBestView()

next_best_view::NextBestView::NextBestView ( )

inline

Creates an instance of the NextBestView class.

Definition at line 163 of file NextBestView.hpp.

~NextBestView()

virtual next_best_view::NextBestView::~NextBestView ( )

inlinevirtual

Definition at line 181 of file NextBestView.hpp.

Member Function Documentation

convertObjectPointCloudToAttributedPointCloud()

static void next_best_view::NextBestView::convertObjectPointCloudToAttributedPointCloud ( const ObjectPointCloud &  pointCloud, asr_msgs::AsrAttributedPointCloud &  pointCloudMessage, uint  minNumberNormals  )

inlinestatic

Definition at line 635 of file NextBestView.hpp.

createCameraModelFromConfig()

CameraModelFilterAbstractFactoryPtr next_best_view::NextBestView::createCameraModelFromConfig ( int  moduleId )

inline

Definition at line 420 of file NextBestView.hpp.

createHypothesisUpdaterFromConfig()

HypothesisUpdaterAbstractFactoryPtr next_best_view::NextBestView::createHypothesisUpdaterFromConfig ( int  moduleId )

inline

Definition at line 494 of file NextBestView.hpp.

createRatingModuleFromConfig()

RatingModuleAbstractFactoryPtr next_best_view::NextBestView::createRatingModuleFromConfig ( int  moduleId )

inline

Definition at line 468 of file NextBestView.hpp.

createRobotModelFromConfig()

robot_model_services::RobotModelAbstractFactoryPtr next_best_view::NextBestView::createRobotModelFromConfig ( int  moduleId )

inline

Definition at line 450 of file NextBestView.hpp.

createSpaceSamplerFromConfig()

SpaceSamplerAbstractFactoryPtr next_best_view::NextBestView::createSpaceSamplerFromConfig ( int  moduleId )

inline

Definition at line 391 of file NextBestView.hpp.

createSphereSamplerFromConfig()

UnitSphereSamplerAbstractFactoryPtr next_best_view::NextBestView::createSphereSamplerFromConfig ( int  moduleId )

inline

Definition at line 376 of file NextBestView.hpp.

dynamicReconfigureCallback()

void next_best_view::NextBestView::dynamicReconfigureCallback ( asr_next_best_view::DynamicParametersConfig &  config, uint32_t  level  )

inline

Definition at line 1049 of file NextBestView.hpp.

getCalculator()

NextBestViewCalculator& next_best_view::NextBestView::getCalculator ( )

inline

Definition at line 1023 of file NextBestView.hpp.

getIndicesOutsideFrustum()

void next_best_view::NextBestView::getIndicesOutsideFrustum ( const ViewportPoint &  viewport, Indices &  resultIndices  )

inline

Definition at line 1027 of file NextBestView.hpp.

getMeshResources()

std::map<std::string, std::string> next_best_view::NextBestView::getMeshResources ( ObjectPointCloud  objectPointCloud )

inline

Definition at line 1035 of file NextBestView.hpp.

initialize()

void next_best_view::NextBestView::initialize ( )

inline

Definition at line 185 of file NextBestView.hpp.

processGetNextBestViewServiceCall()

bool next_best_view::NextBestView::processGetNextBestViewServiceCall ( asr_next_best_view::GetNextBestView::Request &  request, asr_next_best_view::GetNextBestView::Response &  response  )

inline

Definition at line 743 of file NextBestView.hpp.

processGetPointCloudServiceCall()

bool next_best_view::NextBestView::processGetPointCloudServiceCall ( asr_next_best_view::GetAttributedPointCloud::Request &  request, asr_next_best_view::GetAttributedPointCloud::Response &  response  )

inline

Definition at line 655 of file NextBestView.hpp.

processRateViewports()

bool next_best_view::NextBestView::processRateViewports ( asr_next_best_view::RateViewports::Request &  request, asr_next_best_view::RateViewports::Response &  response  )

inline

Definition at line 522 of file NextBestView.hpp.

processRemoveObjects()

bool next_best_view::NextBestView::processRemoveObjects ( asr_next_best_view::RemoveObjects::Request &  request, asr_next_best_view::RemoveObjects::Response &  response  )

inline

Definition at line 622 of file NextBestView.hpp.

processResetCalculatorServiceCall()

bool next_best_view::NextBestView::processResetCalculatorServiceCall ( asr_next_best_view::ResetCalculator::Request &  request, asr_next_best_view::ResetCalculator::Response &  response  )

inline

Definition at line 512 of file NextBestView.hpp.

processSetInitRobotStateServiceCall()

bool next_best_view::NextBestView::processSetInitRobotStateServiceCall ( asr_next_best_view::SetInitRobotState::Request &  request, asr_next_best_view::SetInitRobotState::Response &  response  )

inline

Definition at line 722 of file NextBestView.hpp.

processSetPointCloudServiceCall()

bool next_best_view::NextBestView::processSetPointCloudServiceCall ( asr_next_best_view::SetAttributedPointCloud::Request &  request, asr_next_best_view::SetAttributedPointCloud::Response &  response  )

inline

Definition at line 667 of file NextBestView.hpp.

processTriggerFrustumsAndPointCloudVisualization()

bool next_best_view::NextBestView::processTriggerFrustumsAndPointCloudVisualization ( asr_next_best_view::TriggerFrustumsAndPointCloudVisualization::Request &  request, asr_next_best_view::TriggerFrustumsAndPointCloudVisualization::Response &  response  )

inline

Definition at line 886 of file NextBestView.hpp.

processTriggerFrustumVisualization()

bool next_best_view::NextBestView::processTriggerFrustumVisualization ( asr_next_best_view::TriggerFrustumVisualization::Request &  request, asr_next_best_view::TriggerFrustumVisualization::Response &  response  )

inline

Definition at line 856 of file NextBestView.hpp.

processTriggerOldFrustumVisualization()

bool next_best_view::NextBestView::processTriggerOldFrustumVisualization ( asr_next_best_view::TriggerFrustumVisualization::Request &  request, asr_next_best_view::TriggerFrustumVisualization::Response &  response  )

inline

Definition at line 871 of file NextBestView.hpp.

processUpdatePointCloudServiceCall()

bool next_best_view::NextBestView::processUpdatePointCloudServiceCall ( asr_next_best_view::UpdatePointCloud::Request &  request, asr_next_best_view::UpdatePointCloud::Response &  response  )

inline

Definition at line 808 of file NextBestView.hpp.

publishNewPointCloudVisualization()

void next_best_view::NextBestView::publishNewPointCloudVisualization ( )

inline

Definition at line 991 of file NextBestView.hpp.

publishPointCloudNormals()

void next_best_view::NextBestView::publishPointCloudNormals ( )

inline

Definition at line 1013 of file NextBestView.hpp.

publishVisualization()

void next_best_view::NextBestView::publishVisualization ( ViewportPoint  viewport, bool  publishFrustum  )

inline

Publishes the Visualization of the NextBestView.

Parameters

publishFrustum

whether the frustum should be published

Definition at line 946 of file NextBestView.hpp.

triggerVisualization() [1/2]

bool next_best_view::NextBestView::triggerVisualization ( )

inline

Definition at line 926 of file NextBestView.hpp.

triggerVisualization() [2/2]

bool next_best_view::NextBestView::triggerVisualization ( ViewportPoint  viewport )

inline

Definition at line 930 of file NextBestView.hpp.

Member Data Documentation

mCalculator

NextBestViewCalculator next_best_view::NextBestView::mCalculator

private

Definition at line 100 of file NextBestView.hpp.

mCameraModelFactoryPtr

CameraModelFilterAbstractFactoryPtr next_best_view::NextBestView::mCameraModelFactoryPtr

private

Definition at line 154 of file NextBestView.hpp.

mConfig

asr_next_best_view::DynamicParametersConfig next_best_view::NextBestView::mConfig

private

Definition at line 132 of file NextBestView.hpp.

mConfigLevel

uint32_t next_best_view::NextBestView::mConfigLevel

private

Definition at line 133 of file NextBestView.hpp.

mCurrentCameraViewport

ViewportPoint next_best_view::NextBestView::mCurrentCameraViewport

private

Definition at line 121 of file NextBestView.hpp.

mCurrentlyPublishingVisualization

bool next_best_view::NextBestView::mCurrentlyPublishingVisualization

private

Definition at line 128 of file NextBestView.hpp.

mDebugHelperPtr

DebugHelperPtr next_best_view::NextBestView::mDebugHelperPtr

private

Definition at line 122 of file NextBestView.hpp.

mDynamicReconfigServer

dynamic_reconfigure::Server<asr_next_best_view::DynamicParametersConfig> next_best_view::NextBestView::mDynamicReconfigServer

private

Definition at line 131 of file NextBestView.hpp.

mFirstRun

bool next_best_view::NextBestView::mFirstRun

private

Definition at line 134 of file NextBestView.hpp.

mGetNextBestViewServiceServer

ros::ServiceServer next_best_view::NextBestView::mGetNextBestViewServiceServer

private

Definition at line 110 of file NextBestView.hpp.

mGetPointCloudServiceServer

ros::ServiceServer next_best_view::NextBestView::mGetPointCloudServiceServer

private

Definition at line 107 of file NextBestView.hpp.

mGlobalNodeHandle

ros::NodeHandle next_best_view::NextBestView::mGlobalNodeHandle

private

Definition at line 103 of file NextBestView.hpp.

mHypothesisUpdaterFactoryPtr

HypothesisUpdaterAbstractFactoryPtr next_best_view::NextBestView::mHypothesisUpdaterFactoryPtr

private

Definition at line 157 of file NextBestView.hpp.

mMapHelperPtr

MapHelperPtr next_best_view::NextBestView::mMapHelperPtr

private

Definition at line 152 of file NextBestView.hpp.

mNodeHandle

ros::NodeHandle next_best_view::NextBestView::mNodeHandle

private

Definition at line 104 of file NextBestView.hpp.

mRateViewportsServer

ros::ServiceServer next_best_view::NextBestView::mRateViewportsServer

private

Definition at line 116 of file NextBestView.hpp.

mRatingModuleFactoryPtr

RatingModuleAbstractFactoryPtr next_best_view::NextBestView::mRatingModuleFactoryPtr

private

Definition at line 156 of file NextBestView.hpp.

mRemoveObjectsServer

ros::ServiceServer next_best_view::NextBestView::mRemoveObjectsServer

private

Definition at line 117 of file NextBestView.hpp.

mResetCalculatorServer

ros::ServiceServer next_best_view::NextBestView::mResetCalculatorServer

private

Definition at line 115 of file NextBestView.hpp.

mRobotModelFactoryPtr

robot_model_services::RobotModelAbstractFactoryPtr next_best_view::NextBestView::mRobotModelFactoryPtr

private

Definition at line 155 of file NextBestView.hpp.

mSetInitRobotStateServiceServer

ros::ServiceServer next_best_view::NextBestView::mSetInitRobotStateServiceServer

private

Definition at line 109 of file NextBestView.hpp.

mSetPointCloudServiceServer

ros::ServiceServer next_best_view::NextBestView::mSetPointCloudServiceServer

private

Definition at line 108 of file NextBestView.hpp.

mShowFrustumMarkerArray

bool next_best_view::NextBestView::mShowFrustumMarkerArray

private

Definition at line 127 of file NextBestView.hpp.

mShowFrustumPointCloud

bool next_best_view::NextBestView::mShowFrustumPointCloud

private

Definition at line 127 of file NextBestView.hpp.

mShowNormals

bool next_best_view::NextBestView::mShowNormals

private

Definition at line 127 of file NextBestView.hpp.

mShowPointcloud

bool next_best_view::NextBestView::mShowPointcloud

private

visualization settings

Definition at line 127 of file NextBestView.hpp.

mSpaceSampleFactoryPtr

SpaceSamplerAbstractFactoryPtr next_best_view::NextBestView::mSpaceSampleFactoryPtr

private

Definition at line 153 of file NextBestView.hpp.

mSphereSamplerFactoryPtr

UnitSphereSamplerAbstractFactoryPtr next_best_view::NextBestView::mSphereSamplerFactoryPtr

private

Definition at line 151 of file NextBestView.hpp.

mTriggerFrustmsAndPointCloudVisualizationServer

ros::ServiceServer next_best_view::NextBestView::mTriggerFrustmsAndPointCloudVisualizationServer

private

Definition at line 114 of file NextBestView.hpp.

mTriggerFrustumVisualizationServer

ros::ServiceServer next_best_view::NextBestView::mTriggerFrustumVisualizationServer

private

Definition at line 112 of file NextBestView.hpp.

mTriggerOldFrustumVisualizationServer

ros::ServiceServer next_best_view::NextBestView::mTriggerOldFrustumVisualizationServer

private

Definition at line 113 of file NextBestView.hpp.

mUpdatePointCloudServiceServer

ros::ServiceServer next_best_view::NextBestView::mUpdatePointCloudServiceServer

private

Definition at line 111 of file NextBestView.hpp.

mVisHelperPtr

VisualizationHelperPtr next_best_view::NextBestView::mVisHelperPtr

private

Definition at line 123 of file NextBestView.hpp.

mVisualizationThread

boost::shared_ptr<boost::thread> next_best_view::NextBestView::mVisualizationThread

private

Definition at line 148 of file NextBestView.hpp.

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

• NextBestView.hpp