gen_rest_poses.cc File Reference

Obtain object rest poses. More...

#include "gen_rest_poses.hh"

Functions
int	main (int _argc, char **_argv)
const std::string	getUsage (const char *argv_0)
	Obtains usage string. More...
void	parseArgs (int argc, char **argv, std::string &obj_cfg_dir, std::string &out_rest_dir)
	Parses command-line arguments. More...
void	setupCommunications (gazebo::transport::NodePtr &node, std::map< std::string, gazebo::transport::PublisherPtr > &pubs, std::map< std::string, gazebo::transport::SubscriberPtr > &subs)
	Sets up gazebo communication pubs/subs. More...
void	obtainTargets (std::vector< std::string > &targets, const std::string &file_name)
	TODO. More...
void	getTargetRestPose (gazebo::transport::PublisherPtr pub)
	Requests target object rest pose. More...
bool	waitingTrigger (std::mutex &mutex, bool &trigger)
	Returns whether to keep waiting for trigger. More...
void	onTargetResponse (TargetResponsePtr &_msg)
	Callback for Target plugin response. More...
void	waitMs (int delay)
	TODO. More...

Variables
bool	g_resting {false}
	Global object resting flag. More...
std::mutex	g_resting_mutex
	Mutex for global object resting flag. More...
const ignition::math::Pose3d	INIT_POSE {0,0,0.1,0,0,0}
	Global initial object pose. More...
ignition::math::Pose3d	g_rest_pose {0,0,0,0,0,0}
	Global object resting pose. More...

Detailed Description

Obtain object rest poses.

Drop each object in dataset from given pose and record rest pose

Author

João Borrego : jsbruglie

Function Documentation

void getTargetRestPose

(

gazebo::transport::PublisherPtr

pub

)

Requests target object rest pose.

Parameters

pub	Publisher to target's topic

const std::string getUsage

(

const char *

argv_0

)

Obtains usage string.

Returns usage string.

Parameters

argv_0

Name of the executable

Returns

String with command-line usage

int main	(	int	_argc,
		char **	_argv
	)

void obtainTargets	(	std::vector< std::string > &	targets,
		const std::string &	file_name
	)

TODO.

Obtain list of models' names in dataset yml.

void onTargetResponse

(

TargetResponsePtr &

_msg

)

Callback for Target plugin response.

TODO.

void parseArgs	(	int	argc,
		char **	argv,
		std::string &	obj_cfg_dir,
		std::string &	out_rest_dir
	)

Parses command-line arguments.

Parameters

argc	Argument count
argv	Arguments
obj_cfg_dir	Path to object dataset yaml
out_rest_dir	Directory for output rest poses

void setupCommunications	(	gazebo::transport::NodePtr &	node,
		std::map< std::string, gazebo::transport::PublisherPtr > &	pubs,
		std::map< std::string, gazebo::transport::SubscriberPtr > &	subs
	)

Sets up gazebo communication pubs/subs.

Parameters

node	Gazebo communication node pointer
pubs	Resulting map of publishers
subs	Resulting map of subscribers

bool waitingTrigger	(	std::mutex &	mutex,
		bool &	trigger
	)

Returns whether to keep waiting for trigger.

Parameters

mutex	Mutex that protects trigger variable
trigger	Trigger boolean variable

Returns

True as long as trigger is false, false otherwise

void waitMs ( int  delay )

inline

TODO.

Waits for delay milliseconds.

Variable Documentation

ignition::math::Pose3d g_rest_pose {0,0,0,0,0,0}

Global object resting pose.

bool g_resting {false}

Global object resting flag.

std::mutex g_resting_mutex

Mutex for global object resting flag.

const ignition::math::Pose3d INIT_POSE {0,0,0.1,0,0,0}

Global initial object pose.