sbpl_arm_planner::VisualizeArm Class Reference

#include <visualize_arm.h>

List of all members.

Public Member Functions
bool	computeFKforVisualization (const std::vector< double > &jnt_pos, std::vector< geometry_msgs::PoseStamped > &poses)
bool	computeFKforVisualizationWithKDL (const std::vector< double > &jnt_pos, std::vector< geometry_msgs::PoseStamped > &poses)
bool	computeFKwithKDL (const std::vector< double > angles, int frame_num, geometry_msgs::Pose &pose)
void	displayArmConfiguration (std::vector< double > angles)
bool	initKDLChain ()
bool	parseCSVFile (std::string filename, int num_cols, std::vector< std::vector< double > > &data)
bool	parseEnvironmentFile (std::string filename)
bool	parsePoseFile (std::string filename, std::vector< std::vector< double > > &poses)
void	printEnvironmentInfo (FILE *fid)
void	sendArmToConfiguration (const std::vector< double > &angles)
void	setReferenceFrame (std::string &frame)
void	visualize3DPath (std::vector< std::vector< double > > &dpath)
	VisualizeArm (std::string arm_name)
void	visualizeArmConfiguration (double color_num, const std::vector< double > &jnt_pos)
void	visualizeArmConfigurations (const std::vector< std::vector< double > > &traj, int throttle)
void	visualizeArmMeshes (double color_num, std::vector< geometry_msgs::PoseStamped > &poses)
void	visualizeAttachedObject (const std::vector< double > angles)
void	visualizeBasicStates (const std::vector< std::vector< double > > &states, const std::vector< double > &color, std::string name, double size)
void	visualizeCollisionModel (const std::vector< std::vector< double > > &path, sbpl_arm_planner::SBPLCollisionSpace &cspace, int throttle)
void	visualizeCollisionModelFromJointTrajectoryMsg (trajectory_msgs::JointTrajectory &traj_msg, sbpl_arm_planner::SBPLCollisionSpace &cspace, int throttle)
void	visualizeDetailedStates (const std::vector< std::vector< double > > &states, const std::vector< std::vector< double > > &color, std::string name, double size)
void	visualizeEnvironment (std::string filename)
void	visualizeGripperConfiguration (double color_num, const std::vector< double > &jnt_pos)
void	visualizeGripperMeshes (double color_num, std::vector< geometry_msgs::PoseStamped > &poses)
void	visualizeJointTrajectoryMsg (trajectory_msgs::JointTrajectory traj_msg, int throttle)
void	visualizeObstacles (const std::vector< std::vector< double > > &obstacles)
void	visualizePose (const geometry_msgs::Pose &pose, std::string text)
void	visualizePose (const std::vector< double > &pose, std::string text)
void	visualizePoses (const std::vector< std::vector< double > > &poses)
void	visualizeSphere (std::vector< double > pose, int color, std::string text, double radius)
void	visualizeSpheres (const std::vector< std::vector< double > > &pose, int color, std::string text, double radius)
void	visualizeTrajectoryFile (std::string filename, int throttle)
	~VisualizeArm ()
Private Attributes
std::string	arm_config_file_
std::string	arm_name_
KDL::Chain	chain_
std::string	chain_root_name_
std::string	chain_tip_name_
std::vector< std::vector < double > >	cubes_
ros::Publisher	display_trajectory_publisher_
std::string	fk_service_name_
KDL::ChainFkSolverPos_recursive *	fk_solver_
bool	goal_is_6dof_
std::vector< double >	goal_pose_
KDL::Chain	gripper_l_chain_
KDL::ChainFkSolverPos_recursive *	gripper_l_fk_solver_
KDL::Chain	gripper_r_chain_
std::string	ik_service_name_
KDL::JntArray	jnt_pos_in_
KDL::JntArray	jnt_pos_out_
std::vector< std::string >	joint_names_
planning_environment::JointStateMonitor	joint_state_monitor_
KDL::Tree	kdl_tree_
std::vector< std::string >	link_names_
visualization_msgs::Marker	marker_
visualization_msgs::MarkerArray	marker_array_
ros::Publisher	marker_array_publisher_
ros::Publisher	marker_publisher_
ros::NodeHandle	nh_
int	num_joints_
double	orientation_tolerance_
KDL::Frame	p_out_
ros::NodeHandle	ph_
double	position_tolerance_
std::vector< std::string >	pr2_arm_meshes_
std::vector < geometry_msgs::Vector3 >	pr2_arm_meshes_scale_
std::vector< std::string >	pr2_gripper_meshes_
std::string	reference_frame_
std::string	side_
std::string	side_full_
std::vector< double >	start_config_
TrajClient *	traj_client_

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Detailed Description

Definition at line 37 of file visualize_arm.h.

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Constructor & Destructor Documentation

VisualizeArm::VisualizeArm

(

std::string

arm_name

)

Definition at line 57 of file visualize_arm.cpp.

VisualizeArm::~VisualizeArm

(

)

Definition at line 134 of file visualize_arm.cpp.

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Member Function Documentation

bool VisualizeArm::computeFKforVisualization	(	const std::vector< double > &	jnt_pos,
		std::vector< geometry_msgs::PoseStamped > &	poses
	)

Definition at line 378 of file visualize_arm.cpp.

bool VisualizeArm::computeFKforVisualizationWithKDL	(	const std::vector< double > &	jnt_pos,
		std::vector< geometry_msgs::PoseStamped > &	poses
	)

Definition at line 522 of file visualize_arm.cpp.

bool VisualizeArm::computeFKwithKDL	(	const std::vector< double >	angles,
		int	frame_num,
		geometry_msgs::Pose &	pose
	)

Definition at line 490 of file visualize_arm.cpp.

void VisualizeArm::displayArmConfiguration

(

std::vector< double >

angles

)

Definition at line 321 of file visualize_arm.cpp.

bool VisualizeArm::initKDLChain

(

)

Definition at line 428 of file visualize_arm.cpp.

bool VisualizeArm::parseCSVFile	(	std::string	filename,
		int	num_cols,
		std::vector< std::vector< double > > &	data
	)

Definition at line 208 of file visualize_arm.cpp.

bool VisualizeArm::parseEnvironmentFile

(

std::string

filename

)

Definition at line 251 of file visualize_arm.cpp.

bool VisualizeArm::parsePoseFile	(	std::string	filename,
		std::vector< std::vector< double > > &	poses
	)

Definition at line 169 of file visualize_arm.cpp.

void VisualizeArm::printEnvironmentInfo

(

FILE *

fid

)

Definition at line 353 of file visualize_arm.cpp.

void VisualizeArm::sendArmToConfiguration

(

const std::vector< double > &

angles

)

Definition at line 146 of file visualize_arm.cpp.

void VisualizeArm::setReferenceFrame

(

std::string &

frame

)

Definition at line 141 of file visualize_arm.cpp.

void VisualizeArm::visualize3DPath

(

std::vector< std::vector< double > > &

dpath

)

Definition at line 1037 of file visualize_arm.cpp.

void VisualizeArm::visualizeArmConfiguration	(	double	color_num,
		const std::vector< double > &	jnt_pos
	)

Definition at line 952 of file visualize_arm.cpp.

void VisualizeArm::visualizeArmConfigurations	(	const std::vector< std::vector< double > > &	traj,
		int	throttle
	)

Definition at line 618 of file visualize_arm.cpp.

void VisualizeArm::visualizeArmMeshes	(	double	color_num,
		std::vector< geometry_msgs::PoseStamped > &	poses
	)

Definition at line 866 of file visualize_arm.cpp.

void sbpl_arm_planner::VisualizeArm::visualizeAttachedObject

(

const std::vector< double >

angles

)

void VisualizeArm::visualizeBasicStates	(	const std::vector< std::vector< double > > &	states,
		const std::vector< double > &	color,
		std::string	name,
		double	size
	)

Definition at line 1079 of file visualize_arm.cpp.

void VisualizeArm::visualizeCollisionModel	(	const std::vector< std::vector< double > > &	path,
		sbpl_arm_planner::SBPLCollisionSpace &	cspace,
		int	throttle
	)

Definition at line 963 of file visualize_arm.cpp.

void VisualizeArm::visualizeCollisionModelFromJointTrajectoryMsg	(	trajectory_msgs::JointTrajectory &	traj_msg,
		sbpl_arm_planner::SBPLCollisionSpace &	cspace,
		int	throttle
	)

Definition at line 1014 of file visualize_arm.cpp.

void VisualizeArm::visualizeDetailedStates	(	const std::vector< std::vector< double > > &	states,
		const std::vector< std::vector< double > > &	color,
		std::string	name,
		double	size
	)

Definition at line 1134 of file visualize_arm.cpp.

void VisualizeArm::visualizeEnvironment

(

std::string

filename

)

Definition at line 578 of file visualize_arm.cpp.

void VisualizeArm::visualizeGripperConfiguration	(	double	color_num,
		const std::vector< double > &	jnt_pos
	)

Definition at line 899 of file visualize_arm.cpp.

void VisualizeArm::visualizeGripperMeshes	(	double	color_num,
		std::vector< geometry_msgs::PoseStamped > &	poses
	)

Definition at line 920 of file visualize_arm.cpp.

void VisualizeArm::visualizeJointTrajectoryMsg	(	trajectory_msgs::JointTrajectory	traj_msg,
		int	throttle
	)

Definition at line 595 of file visualize_arm.cpp.

void VisualizeArm::visualizeObstacles

(

const std::vector< std::vector< double > > &

obstacles

)

Definition at line 538 of file visualize_arm.cpp.

void VisualizeArm::visualizePose	(	const geometry_msgs::Pose &	pose,
		std::string	text
	)

Definition at line 741 of file visualize_arm.cpp.

void VisualizeArm::visualizePose	(	const std::vector< double > &	pose,
		std::string	text
	)

Definition at line 724 of file visualize_arm.cpp.

void VisualizeArm::visualizePoses

(

const std::vector< std::vector< double > > &

poses

)

Definition at line 643 of file visualize_arm.cpp.

void VisualizeArm::visualizeSphere	(	std::vector< double >	pose,
		int	color,
		std::string	text,
		double	radius
	)

Definition at line 805 of file visualize_arm.cpp.

void VisualizeArm::visualizeSpheres	(	const std::vector< std::vector< double > > &	pose,
		int	color,
		std::string	text,
		double	radius
	)

Definition at line 833 of file visualize_arm.cpp.

void VisualizeArm::visualizeTrajectoryFile	(	std::string	filename,
		int	throttle
	)

Definition at line 586 of file visualize_arm.cpp.

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Member Data Documentation

std::string sbpl_arm_planner::VisualizeArm::arm_config_file_ [private]

Definition at line 179 of file visualize_arm.h.

std::string sbpl_arm_planner::VisualizeArm::arm_name_ [private]

Definition at line 178 of file visualize_arm.h.

KDL::Chain sbpl_arm_planner::VisualizeArm::chain_ [private]

Definition at line 171 of file visualize_arm.h.

std::string sbpl_arm_planner::VisualizeArm::chain_root_name_ [private]

Definition at line 184 of file visualize_arm.h.

std::string sbpl_arm_planner::VisualizeArm::chain_tip_name_ [private]

Definition at line 185 of file visualize_arm.h.

std::vector<std::vector<double> > sbpl_arm_planner::VisualizeArm::cubes_ [private]

Definition at line 189 of file visualize_arm.h.

ros::Publisher sbpl_arm_planner::VisualizeArm::display_trajectory_publisher_ [private]

Definition at line 149 of file visualize_arm.h.

std::string sbpl_arm_planner::VisualizeArm::fk_service_name_ [private]

Definition at line 182 of file visualize_arm.h.

KDL::ChainFkSolverPos_recursive* sbpl_arm_planner::VisualizeArm::fk_solver_ [private]

Definition at line 174 of file visualize_arm.h.

bool sbpl_arm_planner::VisualizeArm::goal_is_6dof_ [private]

Definition at line 192 of file visualize_arm.h.

std::vector<double> sbpl_arm_planner::VisualizeArm::goal_pose_ [private]

Definition at line 188 of file visualize_arm.h.

KDL::Chain sbpl_arm_planner::VisualizeArm::gripper_l_chain_ [private]

Definition at line 172 of file visualize_arm.h.

KDL::ChainFkSolverPos_recursive* sbpl_arm_planner::VisualizeArm::gripper_l_fk_solver_ [private]

Definition at line 175 of file visualize_arm.h.

KDL::Chain sbpl_arm_planner::VisualizeArm::gripper_r_chain_ [private]

Definition at line 173 of file visualize_arm.h.

std::string sbpl_arm_planner::VisualizeArm::ik_service_name_ [private]

Definition at line 183 of file visualize_arm.h.

KDL::JntArray sbpl_arm_planner::VisualizeArm::jnt_pos_in_ [private]

Definition at line 168 of file visualize_arm.h.

KDL::JntArray sbpl_arm_planner::VisualizeArm::jnt_pos_out_ [private]

Definition at line 169 of file visualize_arm.h.

std::vector<std::string> sbpl_arm_planner::VisualizeArm::joint_names_ [private]

Definition at line 162 of file visualize_arm.h.

planning_environment::JointStateMonitor sbpl_arm_planner::VisualizeArm::joint_state_monitor_ [private]

Definition at line 153 of file visualize_arm.h.

KDL::Tree sbpl_arm_planner::VisualizeArm::kdl_tree_ [private]

Definition at line 176 of file visualize_arm.h.

std::vector<std::string> sbpl_arm_planner::VisualizeArm::link_names_ [private]

Definition at line 163 of file visualize_arm.h.

visualization_msgs::Marker sbpl_arm_planner::VisualizeArm::marker_ [private]

Definition at line 160 of file visualize_arm.h.

visualization_msgs::MarkerArray sbpl_arm_planner::VisualizeArm::marker_array_ [private]

Definition at line 159 of file visualize_arm.h.

ros::Publisher sbpl_arm_planner::VisualizeArm::marker_array_publisher_ [private]

Definition at line 147 of file visualize_arm.h.

ros::Publisher sbpl_arm_planner::VisualizeArm::marker_publisher_ [private]

Definition at line 148 of file visualize_arm.h.

ros::NodeHandle sbpl_arm_planner::VisualizeArm::nh_ [private]

Definition at line 145 of file visualize_arm.h.

int sbpl_arm_planner::VisualizeArm::num_joints_ [private]

Definition at line 157 of file visualize_arm.h.

double sbpl_arm_planner::VisualizeArm::orientation_tolerance_ [private]

Definition at line 191 of file visualize_arm.h.

KDL::Frame sbpl_arm_planner::VisualizeArm::p_out_ [private]

Definition at line 170 of file visualize_arm.h.

ros::NodeHandle sbpl_arm_planner::VisualizeArm::ph_ [private]

Definition at line 146 of file visualize_arm.h.

double sbpl_arm_planner::VisualizeArm::position_tolerance_ [private]

Definition at line 190 of file visualize_arm.h.

std::vector<std::string> sbpl_arm_planner::VisualizeArm::pr2_arm_meshes_ [private]

Definition at line 164 of file visualize_arm.h.

std::vector<geometry_msgs::Vector3> sbpl_arm_planner::VisualizeArm::pr2_arm_meshes_scale_ [private]

Definition at line 166 of file visualize_arm.h.

std::vector<std::string> sbpl_arm_planner::VisualizeArm::pr2_gripper_meshes_ [private]

Definition at line 165 of file visualize_arm.h.

std::string sbpl_arm_planner::VisualizeArm::reference_frame_ [private]

Definition at line 151 of file visualize_arm.h.

std::string sbpl_arm_planner::VisualizeArm::side_ [private]

Definition at line 180 of file visualize_arm.h.

std::string sbpl_arm_planner::VisualizeArm::side_full_ [private]

Definition at line 181 of file visualize_arm.h.

std::vector<double> sbpl_arm_planner::VisualizeArm::start_config_ [private]

Definition at line 187 of file visualize_arm.h.

TrajClient* sbpl_arm_planner::VisualizeArm::traj_client_ [private]

Definition at line 155 of file visualize_arm.h.

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

• visualize_arm.h
• visualize_arm.cpp