gen_rest_poses.hh File Reference

Obtain object rest poses. More...

#include <gazebo/gazebo_client.hh>
#include <gazebo/gazebo_config.h>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <iostream>
#include <chrono>
#include <thread>
#include "yaml-cpp/yaml.h"
#include "MessageTypes.hh"
#include "MessageTopics.hh"
#include "RestPose.hh"
#include "object_utils.hh"
#include "debug.hh"

Go to the source code of this file.

Macros
#define	REQ_REST_POSE   grasp::msgs::TargetRequest::GET_REST_POSE
	Update rest pose request. More...
#define	RES_POSE   grasp::msgs::TargetResponse::POSE
	Current pose response. More...
#define	RES_REST_POSE   grasp::msgs::TargetResponse::REST_POSE
	Updated rest pose response. More...

Typedefs
typedef grasp::msgs::TargetRequest	TargetRequest
	Declaration for request message type. More...
typedef const boost::shared_ptr< const grasp::msgs::TargetRequest >	TargetRequestPtr
	Shared pointer declaration for request message type. More...
typedef grasp::msgs::TargetResponse	TargetResponse
	Declaration for response message type. More...
typedef const boost::shared_ptr< const grasp::msgs::TargetResponse >	TargetResponsePtr
	Shared pointer declaration for response message type. More...

Functions
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)
	Obtain list of models' names in dataset yml. 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)
	Waits for delay milliseconds. More...

Detailed Description

Obtain object rest poses.

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

Author

João Borrego : jsbruglie

Macro Definition Documentation

#define REQ_REST_POSE   grasp::msgs::TargetRequest::GET_REST_POSE

Update rest pose request.

#define RES_POSE   grasp::msgs::TargetResponse::POSE

Current pose response.

#define RES_REST_POSE   grasp::msgs::TargetResponse::REST_POSE

Updated rest pose response.

Typedef Documentation

typedef grasp::msgs::TargetRequest TargetRequest

Declaration for request message type.

typedef const boost::shared_ptr<const grasp::msgs::TargetRequest> TargetRequestPtr

Shared pointer declaration for request message type.

typedef grasp::msgs::TargetResponse TargetResponse

Declaration for response message type.

typedef const boost::shared_ptr<const grasp::msgs::TargetResponse> TargetResponsePtr

Shared pointer declaration for response message type.

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.

Parameters

argv_0

Name of the executable

Returns

String with command-line usage

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

Obtain list of models' names in dataset yml.

Parameters

targets	Output list of model names
file_name	Input dataset config yml

Obtain list of models' names in dataset yml.

void onTargetResponse

(

TargetResponsePtr &

_msg

)

Callback for Target plugin response.

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

Waits for delay milliseconds.

Parameters

delay

Delay in milliseconds

Waits for delay milliseconds.