Inheritance diagram for handrail_detect::HandrailDetect:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	HandrailDetect ()

	~HandrailDetect ()

Public Member Functions inherited from ff_util::FreeFlyerNodelet
	FreeFlyerNodelet (bool autostart_hb_timer=true)

	FreeFlyerNodelet (std::string const &name, bool autostart_hb_timer=true)

virtual	~FreeFlyerNodelet ()

void	AssertFault (FaultKeys enum_key, std::string const &message, ros::Time time_fault_occurred=ros::Time::now())

void	ClearAllFaults ()

void	ClearFault (FaultKeys enum_key)

void	PrintFaults ()

ros::NodeHandle *	GetPlatformHandle (bool multithreaded=false)

ros::NodeHandle *	GetPrivateHandle (bool multithreaded=false)

std::string	GetName ()

std::string	GetPlatform ()

std::string	GetTransform (std::string const &child)

Protected Member Functions
void	Initialize (ros::NodeHandle *nh)

void	ReadParams ()

bool	EnableCallback (ff_msgs::SetBool::Request &req, ff_msgs::SetBool::Response &res)

void	PointCloud2Callback (const sensor_msgs::PointCloud2ConstPtr &depth_msg)

void	Clear ()

void	HandrailCallback ()

bool	FindHandrail ()

bool	DownsamplePoints (std::vector< int > *downsample_points)

bool	FindPlane (const std::vector< int > &downsample_points, const sensor_msgs::PointCloud &filtered_cloud, std::vector< int > plane_inliers, std::vector< int > plane_outliers, Eigen::Vector4f plane_parameter, Eigen::Vector3f plane_vector, float *plane_vector_length)

bool	ClusterLinePoints (const std::array< std::vector< int >, 2 > &line_inliers, const Eigen::Vector4f &plane_parameter, const sensor_msgs::PointCloud &filtered_cloud, const int &line_size_thres, std::array< std::vector< int >, 2 > *clustered_line_inliers)

void	ClusterPotentialLinePoints (const std::vector< int > &potential_line_inliers, const sensor_msgs::PointCloud &filtered_cloud, bool x_check, float gap_dist, std::vector< int > *clustered_line_inliers)

bool	FilterCloud (const std::vector< int > &sample_points, sensor_msgs::PointCloud *filtered_cloud)

void	PublishTF (const Eigen::Affine3f &publish_tf, std::string parent_frame, std::string child_frame)

bool	FindPotentialLinePoints (const std::vector< int > &new_plane_outliers, const Eigen::Vector4f &plane_parameter, const Eigen::Vector3f &plane_vector, const int &line_size_thres, const float &plane_vector_length, std::vector< int > *potential_line_inliers)

bool	FindBestLinePoints (const std::vector< int > &potential_line_inliers, const int &line_size_thres, const Eigen::Vector3f &plane_vector, sensor_msgs::PointCloud new_filtered_cloud, std::array< std::vector< int >, 2 > best_line_inliers)

float	GetLineDist (const std::vector< int > &point_inliers, const sensor_msgs::PointCloud &filtered_cloud, Eigen::Vector3f *center_pos)

void	UpdateEndPoint (const int &fst_end, const int &scd_end, const Eigen::Vector3f &line_vector, const Eigen::Vector3f &line_center, std::vector< geometry_msgs::Point > *end_point)

geometry_msgs::Point	FindCloseLinePoint (const int &point_ID, const Eigen::Vector3f &line_vector, const Eigen::Vector3f &line_center)

bool	FindLine (const std::vector< int > &plane_outliers, const Eigen::Vector4f &plane_parameter, const Eigen::Vector3f &plane_vector, const float &plane_vector_length, Eigen::Vector3f line_vector, Eigen::Vector3f line_center, std::vector< int > *line_inliers)

void	FindCorner (const std::vector< int > &line_inliers, const Eigen::Vector4f &plane_parameter, const Eigen::Vector3f &line_center, const float &plane_vector_length)

void	GetBodyTargetPose (const Eigen::Vector3f &line_vector, const Eigen::Vector3f &line_center, const std::vector< geometry_msgs::Point > &end_point, const Eigen::Vector3f &plane_vector, Eigen::Vector3f target_pos_err, Eigen::Affine3f i2h)

void	GetFeaturePoints (const std::vector< int > &plane_inliers, const std::vector< int > &line_inliers)

bool	GetXYScale (const std::vector< int > &plane_inliers)

void	PublishCloud (const std::vector< int > &idxs, const sensor_msgs::PointCloud &cloud_data, ros::Publisher *cloud_publisher)

void	PublishDepthImage ()

void	PublishNoMarker ()

void	PublishMarker (const Eigen::Vector3f &target_pos_err, const Eigen::Affine3f &i2h, const std::vector< geometry_msgs::Point > &end_point)

void	PrintHandrailStatus (const handrailStatus &prev_status, const handrailStatus &curr_status)

void	ConvertRotMatToEuler (const Eigen::Matrix3f &r_mat, Eigen::Vector3f *euler)

Protected Member Functions inherited from ff_util::FreeFlyerNodelet
virtual void	Reset ()

virtual void	Sleep ()

virtual void	Wakeup ()

void	StopHeartbeat ()

void	SendDiagnostics (const std::vector< diagnostic_msgs::KeyValue > &keyval)

void	Setup (ros::NodeHandle &nh, ros::NodeHandle &nh_mt, std::string plugin_name)

Additional Inherited Members
Public Types inherited from ff_util::FreeFlyerNodelet
enum	ResolveType : uint8_t { NAMESPACE = 0, TRANSFORM = 1, RESOURCE = 1 }

Protected Attributes inherited from ff_util::FreeFlyerNodelet
std::map< std::string, int >	faults_

Constructor & Destructor Documentation

◆ HandrailDetect()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW handrail_detect::HandrailDetect::HandrailDetect ( )

inline

◆ ~HandrailDetect()

handrail_detect::HandrailDetect::~HandrailDetect ( )

inline

Member Function Documentation

◆ Clear()

void handrail_detect::HandrailDetect::Clear ( )

inlineprotected

◆ ClusterLinePoints()

bool handrail_detect::HandrailDetect::ClusterLinePoints	(	const std::array< std::vector< int >, 2 > &	line_inliers,
		const Eigen::Vector4f &	plane_parameter,
		const sensor_msgs::PointCloud &	filtered_cloud,
		const int &	line_size_thres,
		std::array< std::vector< int >, 2 > *	clustered_line_inliers
	)

inlineprotected

◆ ClusterPotentialLinePoints()

void handrail_detect::HandrailDetect::ClusterPotentialLinePoints	(	const std::vector< int > &	potential_line_inliers,
		const sensor_msgs::PointCloud &	filtered_cloud,
		bool	x_check,
		float	gap_dist,
		std::vector< int > *	clustered_line_inliers
	)

inlineprotected

◆ ConvertRotMatToEuler()

void handrail_detect::HandrailDetect::ConvertRotMatToEuler	(	const Eigen::Matrix3f &	r_mat,
		Eigen::Vector3f *	euler
	)

inlineprotected

◆ DownsamplePoints()

bool handrail_detect::HandrailDetect::DownsamplePoints ( std::vector< int > * downsample_points )

inlineprotected

◆ EnableCallback()

bool handrail_detect::HandrailDetect::EnableCallback	(	ff_msgs::SetBool::Request &	req,
		ff_msgs::SetBool::Response &	res
	)

inlineprotected

◆ FilterCloud()

bool handrail_detect::HandrailDetect::FilterCloud	(	const std::vector< int > &	sample_points,
		sensor_msgs::PointCloud *	filtered_cloud
	)

inlineprotected

◆ FindBestLinePoints()

bool handrail_detect::HandrailDetect::FindBestLinePoints	(	const std::vector< int > &	potential_line_inliers,
		const int &	line_size_thres,
		const Eigen::Vector3f &	plane_vector,
		sensor_msgs::PointCloud *	new_filtered_cloud,
		std::array< std::vector< int >, 2 > *	best_line_inliers
	)

inlineprotected

◆ FindCloseLinePoint()

geometry_msgs::Point handrail_detect::HandrailDetect::FindCloseLinePoint	(	const int &	point_ID,
		const Eigen::Vector3f &	line_vector,
		const Eigen::Vector3f &	line_center
	)

inlineprotected

◆ FindCorner()

void handrail_detect::HandrailDetect::FindCorner	(	const std::vector< int > &	line_inliers,
		const Eigen::Vector4f &	plane_parameter,
		const Eigen::Vector3f &	line_center,
		const float &	plane_vector_length
	)

inlineprotected

◆ FindHandrail()

bool handrail_detect::HandrailDetect::FindHandrail ( )

inlineprotected

◆ FindLine()

bool handrail_detect::HandrailDetect::FindLine	(	const std::vector< int > &	plane_outliers,
		const Eigen::Vector4f &	plane_parameter,
		const Eigen::Vector3f &	plane_vector,
		const float &	plane_vector_length,
		Eigen::Vector3f *	line_vector,
		Eigen::Vector3f *	line_center,
		std::vector< int > *	line_inliers
	)

inlineprotected

◆ FindPlane()

bool handrail_detect::HandrailDetect::FindPlane	(	const std::vector< int > &	downsample_points,
		const sensor_msgs::PointCloud &	filtered_cloud,
		std::vector< int > *	plane_inliers,
		std::vector< int > *	plane_outliers,
		Eigen::Vector4f *	plane_parameter,
		Eigen::Vector3f *	plane_vector,
		float *	plane_vector_length
	)

inlineprotected

◆ FindPotentialLinePoints()

bool handrail_detect::HandrailDetect::FindPotentialLinePoints	(	const std::vector< int > &	new_plane_outliers,
		const Eigen::Vector4f &	plane_parameter,
		const Eigen::Vector3f &	plane_vector,
		const int &	line_size_thres,
		const float &	plane_vector_length,
		std::vector< int > *	potential_line_inliers
	)

inlineprotected

◆ GetBodyTargetPose()

void handrail_detect::HandrailDetect::GetBodyTargetPose	(	const Eigen::Vector3f &	line_vector,
		const Eigen::Vector3f &	line_center,
		const std::vector< geometry_msgs::Point > &	end_point,
		const Eigen::Vector3f &	plane_vector,
		Eigen::Vector3f *	target_pos_err,
		Eigen::Affine3f *	i2h
	)

inlineprotected

◆ GetFeaturePoints()

void handrail_detect::HandrailDetect::GetFeaturePoints	(	const std::vector< int > &	plane_inliers,
		const std::vector< int > &	line_inliers
	)

inlineprotected

◆ GetLineDist()

float handrail_detect::HandrailDetect::GetLineDist	(	const std::vector< int > &	point_inliers,
		const sensor_msgs::PointCloud &	filtered_cloud,
		Eigen::Vector3f *	center_pos
	)

inlineprotected

◆ GetXYScale()

bool handrail_detect::HandrailDetect::GetXYScale ( const std::vector< int > & plane_inliers )

inlineprotected

◆ HandrailCallback()

void handrail_detect::HandrailDetect::HandrailCallback ( )

inlineprotected

◆ Initialize()

void handrail_detect::HandrailDetect::Initialize ( ros::NodeHandle * nh )

inlineprotectedvirtual

Reimplemented from ff_util::FreeFlyerNodelet.

◆ PointCloud2Callback()

void handrail_detect::HandrailDetect::PointCloud2Callback ( const sensor_msgs::PointCloud2ConstPtr & depth_msg )

inlineprotected

◆ PrintHandrailStatus()

void handrail_detect::HandrailDetect::PrintHandrailStatus	(	const handrailStatus &	prev_status,
		const handrailStatus &	curr_status
	)

inlineprotected

◆ PublishCloud()

void handrail_detect::HandrailDetect::PublishCloud	(	const std::vector< int > &	idxs,
		const sensor_msgs::PointCloud &	cloud_data,
		ros::Publisher *	cloud_publisher
	)

inlineprotected

◆ PublishDepthImage()

void handrail_detect::HandrailDetect::PublishDepthImage ( )

inlineprotected

◆ PublishMarker()

void handrail_detect::HandrailDetect::PublishMarker	(	const Eigen::Vector3f &	target_pos_err,
		const Eigen::Affine3f &	i2h,
		const std::vector< geometry_msgs::Point > &	end_point
	)

inlineprotected

◆ PublishNoMarker()

void handrail_detect::HandrailDetect::PublishNoMarker ( )

inlineprotected

◆ PublishTF()

void handrail_detect::HandrailDetect::PublishTF	(	const Eigen::Affine3f &	publish_tf,
		std::string	parent_frame,
		std::string	child_frame
	)

inlineprotected

◆ ReadParams()

void handrail_detect::HandrailDetect::ReadParams ( )

inlineprotected

◆ UpdateEndPoint()

void handrail_detect::HandrailDetect::UpdateEndPoint	(	const int &	fst_end,
		const int &	scd_end,
		const Eigen::Vector3f &	line_vector,
		const Eigen::Vector3f &	line_center,
		std::vector< geometry_msgs::Point > *	end_point
	)

inlineprotected

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

localization/handrail_detect/src/handrail_detect.cc

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ HandrailDetect()

◆ ~HandrailDetect()

Member Function Documentation

◆ Clear()

◆ ClusterLinePoints()

◆ ClusterPotentialLinePoints()

◆ ConvertRotMatToEuler()

◆ DownsamplePoints()

◆ EnableCallback()

◆ FilterCloud()

◆ FindBestLinePoints()

◆ FindCloseLinePoint()

◆ FindCorner()

◆ FindHandrail()

◆ FindLine()

◆ FindPlane()

◆ FindPotentialLinePoints()

◆ GetBodyTargetPose()

◆ GetFeaturePoints()

◆ GetLineDist()

◆ GetXYScale()

◆ HandrailCallback()

◆ Initialize()

◆ PointCloud2Callback()

◆ PrintHandrailStatus()

◆ PublishCloud()

◆ PublishDepthImage()

◆ PublishMarker()

◆ PublishNoMarker()

◆ PublishTF()

◆ ReadParams()

◆ UpdateEndPoint()