PlanningDescriptionConfigurationWizard Class Reference

#include <planning_description_configuration_wizard.h>

Public Types
enum	GroupAddStatus { GroupAddSuccess, GroupAddCancel, GroupAddFailed }
enum	WizardMode { Easy, Advanced }
enum	WizardPage { StartPage, SetupGroupsPage, KinematicChainsPage, JointCollectionsPage, SelectDOFPage, AdjacentLinkPage, AlwaysInCollisionPage, OftenInCollisionPage, OccasionallyInCollisionPage, OutputFilesPage, DefaultInCollisionPage }
Public Slots
void	autoConfigure ()
void	dofSelectionTableChanged ()
void	dofTogglePushed ()
void	easyButtonToggled (bool checkState)
void	fastButtonToggled (bool checkState)
void	hardButtonToggled (bool checkState)
void	labelChanged (const char *name)
void	normalButtonToggled (bool checkState)
void	safeButtonToggled (bool checkState)
void	update ()
void	veryFastButtonToggled (bool checkState)
void	verySafeButtonToggled (bool checkState)
void	writeFiles ()
Signals
void	changeLabel (const char *name)
void	changeProgress (int progress)
Public Member Functions
GroupAddStatus	addGroup (const planning_models::KinematicModel::GroupConfig &group_config)
void	deleteKinematicStates ()
void	emitGroupYAML ()
void	emitWorldJointYAML ()
const planning_models::KinematicModel *	getKinematicModel ()
planning_environment::CollisionOperationsGenerator *	getOperationsGenerator ()
std::string	getRobotName ()
WizardMode	getWizardMode () const
bool	isInited () const
void	outputArmNavigationLaunchFile ()
void	outputConfigAndLaunchRviz ()
void	outputJointLimitsYAML ()
void	outputKinematicsLaunchFiles ()
void	outputMoveGroupLaunchFiles ()
void	outputOMPLGroupYAML ()
void	outputOMPLLaunchFile ()
void	outputPlanningComponentVisualizerLaunchFile ()
void	outputPlanningDescriptionYAML ()
void	outputPlanningEnvironmentLaunch ()
void	outputTrajectoryFilterLaunch ()
	PlanningDescriptionConfigurationWizard (const std::string &urdf_package, const std::string &urdf_path, QWidget *parent=NULL)
void	popupFileFailure (const char *reason)
void	popupGenericWarning (const char *text)
void	popupWaitWarning ()
void	removeGroup (const std::string &name)
void	sendMarkers ()
void	sendTransforms ()
void	setCurrentShowGroup (const std::string &s)
void	setCurrentShowLink (const std::string &s)
void	setDisableMap (const planning_environment::CollisionOperationsGenerator::DisableType disable_type, const std::vector< planning_environment::CollisionOperationsGenerator::StringPair > &pairs)
bool	setupWithWorldFixedFrame (const std::string &world_fixed_frame, const std::string &joint_type)
visualization_msgs::Marker	transformEnvironmentModelContactInfoMarker (const collision_space::EnvironmentModel::Contact &c)
void	updateCollisionsInCurrentState ()
void	visualizeCollision (std::vector< planning_environment::CollisionOperationsGenerator::CollidingJointValues > &jointValues, std::vector< planning_environment::CollisionOperationsGenerator::StringPair > &pairs, int &index, std_msgs::ColorRGBA &color)
	~PlanningDescriptionConfigurationWizard ()
Protected Member Functions
void	createDofPageTable ()
void	initOutputFilesPage ()
void	initSelectDofPage ()
void	initSetupGroupsPage ()
void	initStartPage ()
virtual int	nextId () const
void	setupQtPages ()
Protected Attributes
CollisionsWizardPage *	adjacent_link_page_
CollisionsWizardPage *	always_in_collision_page_
planning_environment::CollisionModels *	cm_
visualization_msgs::MarkerArray	collision_markers_
QDialog *	confirm_group_replace_dialog_
QLabel *	confirm_group_text_
std::string	current_show_group_
std::string	current_show_link_
CollisionsWizardPage *	default_in_collision_page_
std::string	dir_name_
std::map < planning_environment::CollisionOperationsGenerator::DisableType, std::vector < planning_environment::CollisionOperationsGenerator::StringPair > >	disable_map_
QTableWidget *	dof_selection_table_
YAML::Emitter *	emitter_
QDialog *	file_failure_dialog_
QLabel *	file_failure_reason_
std::string	full_launch_outfile_name_
std::string	full_yaml_outfile_name_
QDialog *	generic_dialog_
QLabel *	generic_dialog_label_
QCheckBox *	group_selection_done_box_
bool	inited_
JointCollectionWizardPage *	joint_collections_page_
KinematicChainWizardPage *	kinematic_chain_page_
planning_models::KinematicModel *	kmodel_
std::string	launch_outfile_name_
boost::recursive_mutex	lock_
ros::NodeHandle	nh_
CollisionsWizardPage *	occasionally_in_collision_page_
collision_space::EnvironmentModel *	ode_collision_model_
CollisionsWizardPage *	often_in_collision_page_
planning_environment::CollisionOperationsGenerator *	ops_gen_
OutputWizardPage *	output_wizard_page_
std::string	package_directory_
QLineEdit *	package_path_field_
int	progress_
planning_models::KinematicState *	robot_state_
QWizardPage *	select_dof_page_
SetupGroupsWizardPage *	setup_groups_page_
QWizardPage *	start_page_
tf::TransformBroadcaster	transform_broadcaster_
boost::shared_ptr< urdf::Model >	urdf_
std::string	urdf_package_
std::string	urdf_path_
ros::Publisher	vis_marker_array_publisher_
ros::Publisher	vis_marker_publisher_
WizardMode	wizard_mode_
planning_models::KinematicModel::MultiDofConfig	world_joint_config_
std::string	yaml_outfile_name_

Detailed Description

Definition at line 72 of file planning_description_configuration_wizard.h.

Member Enumeration Documentation

enum PlanningDescriptionConfigurationWizard::GroupAddStatus

Enumerator:

GroupAddSuccess
GroupAddCancel
GroupAddFailed

Definition at line 97 of file planning_description_configuration_wizard.h.

enum PlanningDescriptionConfigurationWizard::WizardMode

Enumerator:

Easy
Advanced

Definition at line 77 of file planning_description_configuration_wizard.h.

enum PlanningDescriptionConfigurationWizard::WizardPage

Enumerator:

StartPage
SetupGroupsPage
KinematicChainsPage
JointCollectionsPage
SelectDOFPage
AdjacentLinkPage
AlwaysInCollisionPage
OftenInCollisionPage
OccasionallyInCollisionPage
OutputFilesPage
DefaultInCollisionPage

Definition at line 82 of file planning_description_configuration_wizard.h.

Constructor & Destructor Documentation

PlanningDescriptionConfigurationWizard::PlanningDescriptionConfigurationWizard	(	const std::string &	urdf_package,
		const std::string &	urdf_path,
		QWidget *	parent = `NULL`
	)

PlanningDescriptionConfigurationWizard::~PlanningDescriptionConfigurationWizard ( )

Definition at line 125 of file planning_description_configuration_wizard.cpp.

Member Function Documentation

PlanningDescriptionConfigurationWizard::GroupAddStatus PlanningDescriptionConfigurationWizard::addGroup ( const planning_models::KinematicModel::GroupConfig & group_config )

Definition at line 252 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::autoConfigure ( ) [slot]

Definition at line 1148 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::changeLabel ( const char * name ) [signal]

void PlanningDescriptionConfigurationWizard::changeProgress ( int progress ) [signal]

void PlanningDescriptionConfigurationWizard::createDofPageTable ( ) [protected]

Definition at line 1681 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::deleteKinematicStates ( )

Definition at line 140 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::dofSelectionTableChanged ( ) [slot]

Definition at line 1027 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::dofTogglePushed ( ) [slot]

Definition at line 1003 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::easyButtonToggled ( bool checkState ) [slot]

Definition at line 1332 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::emitGroupYAML ( )

Definition at line 316 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::emitWorldJointYAML ( )

Definition at line 204 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::fastButtonToggled ( bool checkState ) [slot]

Definition at line 1372 of file planning_description_configuration_wizard.cpp.

const planning_models::KinematicModel* PlanningDescriptionConfigurationWizard::getKinematicModel ( void ) [inline]

Definition at line 134 of file planning_description_configuration_wizard.h.

CollisionOperationsGenerator * PlanningDescriptionConfigurationWizard::getOperationsGenerator ( )

Definition at line 993 of file planning_description_configuration_wizard.cpp.

string PlanningDescriptionConfigurationWizard::getRobotName ( void )

Definition at line 998 of file planning_description_configuration_wizard.cpp.

WizardMode PlanningDescriptionConfigurationWizard::getWizardMode ( ) const [inline]

Definition at line 150 of file planning_description_configuration_wizard.h.

void PlanningDescriptionConfigurationWizard::hardButtonToggled ( bool checkState ) [slot]

Definition at line 1340 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::initOutputFilesPage ( ) [protected]

void PlanningDescriptionConfigurationWizard::initSelectDofPage ( ) [protected]

Definition at line 1654 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::initSetupGroupsPage ( ) [protected]

void PlanningDescriptionConfigurationWizard::initStartPage ( ) [protected]

Definition at line 1512 of file planning_description_configuration_wizard.cpp.

bool PlanningDescriptionConfigurationWizard::isInited ( ) const

Definition at line 988 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::labelChanged ( const char * name ) [slot]

Definition at line 1143 of file planning_description_configuration_wizard.cpp.

int PlanningDescriptionConfigurationWizard::nextId ( ) const [protected, virtual]

Definition at line 1257 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::normalButtonToggled ( bool checkState ) [slot]

Definition at line 1364 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::outputArmNavigationLaunchFile ( )

Definition at line 850 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::outputConfigAndLaunchRviz ( )

Definition at line 218 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::outputJointLimitsYAML ( )

Definition at line 391 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::outputKinematicsLaunchFiles ( )

Definition at line 675 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::outputMoveGroupLaunchFiles ( )

Definition at line 727 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::outputOMPLGroupYAML ( )

Definition at line 489 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::outputOMPLLaunchFile ( )

Definition at line 597 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::outputPlanningComponentVisualizerLaunchFile ( )

Definition at line 773 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::outputPlanningDescriptionYAML ( )

Definition at line 470 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::outputPlanningEnvironmentLaunch ( )

Definition at line 655 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::outputTrajectoryFilterLaunch ( )

Definition at line 626 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::popupFileFailure ( const char * reason )

Definition at line 310 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::popupGenericWarning ( const char * text )

Definition at line 1049 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::popupWaitWarning ( ) [inline]

Definition at line 112 of file planning_description_configuration_wizard.h.

void PlanningDescriptionConfigurationWizard::removeGroup ( const std::string & name )

Definition at line 290 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::safeButtonToggled ( bool checkState ) [slot]

Definition at line 1356 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::sendMarkers ( )

Definition at line 908 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::sendTransforms ( )

Definition at line 974 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::setCurrentShowGroup ( const std::string & s ) [inline]

Definition at line 138 of file planning_description_configuration_wizard.h.

void PlanningDescriptionConfigurationWizard::setCurrentShowLink ( const std::string & s ) [inline]

Definition at line 144 of file planning_description_configuration_wizard.h.

void PlanningDescriptionConfigurationWizard::setDisableMap	(	const planning_environment::CollisionOperationsGenerator::DisableType	disable_type,
		const std::vector< planning_environment::CollisionOperationsGenerator::StringPair > &	pairs
	)			`[inline]`

Definition at line 154 of file planning_description_configuration_wizard.h.

void PlanningDescriptionConfigurationWizard::setupQtPages ( ) [protected]

Definition at line 1447 of file planning_description_configuration_wizard.cpp.

bool PlanningDescriptionConfigurationWizard::setupWithWorldFixedFrame	(	const std::string &	world_fixed_frame,
		const std::string &	joint_type
	)

Marker PlanningDescriptionConfigurationWizard::transformEnvironmentModelContactInfoMarker ( const collision_space::EnvironmentModel::Contact & c )

Definition at line 447 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::update ( ) [slot]

Definition at line 1321 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::updateCollisionsInCurrentState ( )

Definition at line 893 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::veryFastButtonToggled ( bool checkState ) [slot]

Definition at line 1380 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::verySafeButtonToggled ( bool checkState ) [slot]

Definition at line 1348 of file planning_description_configuration_wizard.cpp.

void PlanningDescriptionConfigurationWizard::visualizeCollision	(	std::vector< planning_environment::CollisionOperationsGenerator::CollidingJointValues > &	jointValues,
		std::vector< planning_environment::CollisionOperationsGenerator::StringPair > &	pairs,
		int &	index,
		std_msgs::ColorRGBA &	color
	)