CollisionSpaceMonitor is a class which in addition to being aware of a robot model, is also aware of a collision space. More...
#include <collision_space_monitor.h>
Classes | |
| struct | KnownObject |
Public Member Functions | |
| virtual void | advertiseServices () |
| void | applyLinkPaddingToCollisionSpace (const std::vector< motion_planning_msgs::LinkPadding > &link_padding) |
| Applies indicated padding to links. | |
| bool | applyOrderedCollisionOperationsToCollisionSpace (const motion_planning_msgs::OrderedCollisionOperations &ord, bool print=false) |
| This function changes the allowed collisions in the collision space to reflect the contents of the message. This allowed collison set will be in place until revert is called. | |
| bool | applyOrderedCollisionOperationsToMatrix (const motion_planning_msgs::OrderedCollisionOperations &ord, std::vector< std::vector< bool > > &curAllowed, std::map< std::string, unsigned int > &vecIndices) |
| Applies ordered collision operations to a matrix with entries and indices specified. | |
| CollisionSpaceMonitor (CollisionModels *cm, tf::TransformListener *tf) | |
| bool | computeAllowedContact (const motion_planning_msgs::AllowedContactSpecification ®ion, collision_space::EnvironmentModel::AllowedContact &allowedContact) const |
| Convert an allowed contact message into the structure accepted by the collision space. | |
| bool | expandOrderedCollisionOperations (const motion_planning_msgs::OrderedCollisionOperations &ord, motion_planning_msgs::OrderedCollisionOperations &ex) |
| Helper function for expanding collision operations given groups and attached bodies. | |
| CollisionModels * | getCollisionModels (void) const |
| Return the instance of collision models that is being used. | |
| bool | getCurrentAllowedCollisionsService (planning_environment_msgs::GetAllowedCollisionMatrix::Request &req, planning_environment_msgs::GetAllowedCollisionMatrix::Response &res) |
| This function gets whatever allowed collision matrix is currently in use by the collision space. | |
| collision_space::EnvironmentModel * | getEnvironmentModel (void) const |
| Return the instance of the environment model maintained. | |
| bool | getObjectsService (planning_environment_msgs::GetCollisionObjects::Request &req, planning_environment_msgs::GetCollisionObjects::Response &res) |
| double | getPointCloudPadd (void) const |
| Returns the padding used for pointclouds (for collision checking). | |
| bool | haveMap (void) const |
| Return true if map has been received. | |
| bool | isEnvironmentMonitorStarted (void) const |
| Check if the environment monitor is currently started. | |
| bool | isMapUpdated (double sec) const |
| Return true if a map update has been received in the last sec seconds. If sec < 10us, this function always returns true. | |
| const ros::Time & | lastMapUpdate (void) const |
| Return the last update time for the map. | |
| void | printAllowedCollisionMatrix (const std::vector< std::vector< bool > > &curAllowed, const std::map< std::string, unsigned int > &vecIndices) const |
| This gets the allowed collision information from the environment and prints it to std::out for debug purposes. | |
| void | recoverAttachedCollisionObjects (const collision_space::EnvironmentModel *env, std::vector< mapping_msgs::AttachedCollisionObject > &avec) |
| If the user modified some instance of an environment model, this function provides the means to obtain a set of attached objects in map. | |
| void | recoverAttachedCollisionObjects (std::vector< mapping_msgs::AttachedCollisionObject > &avec) |
| This function provides the means to obtain a set of attached objects in map from the current environment. | |
| void | recoverCollisionMap (const collision_space::EnvironmentModel *env, mapping_msgs::CollisionMap &cmap) |
| If the user modified some instance of an environment model, this function provides the means to obtain a collision map (the set of boxes) from that environment model. | |
| void | recoverCollisionMap (mapping_msgs::CollisionMap &cmap) |
| This function provides the means to obtain a collision map (the set of boxes) from the current environment model. | |
| void | recoverCollisionObjects (const collision_space::EnvironmentModel *env, std::vector< mapping_msgs::CollisionObject > &omap) |
| If the user modified some instance of an environment model, this function provides the means to obtain a set of objects in map (all objects that are not in the namespace the collision map was added to). | |
| void | recoverCollisionObjects (std::vector< mapping_msgs::CollisionObject > &omap) |
| This function provides the means to obtain a set of objects in map (all objects that are not in the namespace the collision map was added to) from the current environment. | |
| bool | revertAllowedCollisionMatrixToDefaultService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) |
| Service for reverting the allowed collision matrix to the default. | |
| void | revertAllowedCollisionToDefault () |
| This function reverts the allowed collisions in the collision space to the default. | |
| void | revertCollisionSpacePaddingToDefault () |
| Applies indicated padding to links. | |
| bool | setAllowedCollisionsService (planning_environment_msgs::SetAllowedCollisions::Request &req, planning_environment_msgs::SetAllowedCollisions::Response &res) |
| This service sets the allowed collisions using ordered collision operations. The set collisions will remain in effect until a revert to default is called. | |
| void | setCollisionSpace () |
| void | setOnAfterAttachCollisionObjectCallback (const boost::function< void(const mapping_msgs::AttachedCollisionObjectConstPtr &attachedObject)> &callback) |
| Define a callback for after updating a map. | |
| void | setOnAfterCollisionObjectCallback (const boost::function< void(const mapping_msgs::CollisionObjectConstPtr &attachedObject)> &callback) |
| Define a callback for after updating objects. | |
| void | setOnAfterMapUpdateCallback (const boost::function< void(const mapping_msgs::CollisionMapConstPtr, bool)> &callback) |
| Define a callback for after updating a map. | |
| void | setOnBeforeMapUpdateCallback (const boost::function< void(const mapping_msgs::CollisionMapConstPtr, bool)> &callback) |
| Define a callback for before updating a map. | |
| void | setUseCollisionMap (bool use) |
| void | startEnvironmentMonitor (void) |
| Start the environment monitor. By default, the monitor is started after creation. | |
| void | stopEnvironmentMonitor (void) |
| Stop the environment monitor. | |
| void | waitForMap (void) const |
| Wait until a map is received. | |
| virtual | ~CollisionSpaceMonitor (void) |
Protected Member Functions | |
| void | addAttachedCollisionObjects (std::vector< std::string > &svec) const |
| virtual bool | attachObjectCallback (const mapping_msgs::AttachedCollisionObjectConstPtr &attachedObject) |
| void | collisionMapAsBoxes (const mapping_msgs::CollisionMapConstPtr &collisionMap, std::vector< shapes::Shape * > &boxes, std::vector< btTransform > &poses) |
| void | collisionMapAsBoxes (const mapping_msgs::CollisionMap &collisionMap, std::vector< shapes::Shape * > &boxes, std::vector< btTransform > &poses) |
| void | collisionMapAsSpheres (const mapping_msgs::CollisionMapConstPtr &collisionMap, std::vector< shapes::Shape * > &spheres, std::vector< btTransform > &poses) |
| void | collisionMapCallback (const mapping_msgs::CollisionMapConstPtr &collisionMap) |
| void | collisionMapUpdateCallback (const mapping_msgs::CollisionMapConstPtr &collisionMap) |
| void | collisionObjectCallback (const mapping_msgs::CollisionObjectConstPtr &collisionObject) |
| void | maskCollisionMapForCollisionObjects (std::vector< shapes::Shape * > &all_shapes, std::vector< btTransform > &all_poses, std::vector< bool > &mask) |
| void | setupCSM (void) |
| void | updateCollisionSpace (const mapping_msgs::CollisionMapConstPtr &collisionMap, bool clear) |
| void | updateStaticObjectBodies (const mapping_msgs::CollisionObjectConstPtr &collisionObject) |
Protected Attributes | |
| message_filters::Subscriber < mapping_msgs::AttachedCollisionObject > * | attachedCollisionObjectSubscriber_ |
| CollisionModels * | cm_ |
| boost::recursive_mutex | collision_map_lock_ |
| boost::recursive_mutex | collision_objects_lock_ |
| tf::MessageFilter < mapping_msgs::CollisionMap > * | collisionMapFilter_ |
| message_filters::Subscriber < mapping_msgs::CollisionMap > * | collisionMapSubscriber_ |
| tf::MessageFilter < mapping_msgs::CollisionMap > * | collisionMapUpdateFilter_ |
| message_filters::Subscriber < mapping_msgs::CollisionMap > * | collisionMapUpdateSubscriber_ |
| tf::MessageFilter < mapping_msgs::CollisionObject > * | collisionObjectFilter_ |
| std::map< std::string, KnownObject * > | collisionObjects_ |
| message_filters::Subscriber < mapping_msgs::CollisionObject > * | collisionObjectSubscriber_ |
| collision_space::EnvironmentModel * | collisionSpace_ |
| bool | envMonitorStarted_ |
| ros::ServiceServer | get_current_collision_map_service_ |
| ros::ServiceServer | get_objects_service_ |
| bool | haveMap_ |
| mapping_msgs::CollisionMap | last_collision_map_ |
| std::vector< bool > | last_collision_map_object_mask_ |
| std::vector< btTransform > | last_collision_map_poses_ |
| std::vector< shapes::Shape * > | last_collision_map_shapes_ |
| ros::Time | lastMapUpdate_ |
| boost::mutex | mapUpdateLock_ |
| boost::function< void(const mapping_msgs::AttachedCollisionObjectConstPtr &attachedObject)> | onAfterAttachCollisionObject_ |
| boost::function< void(const mapping_msgs::CollisionMapConstPtr, bool)> | onAfterMapUpdate_ |
| boost::function< void(const mapping_msgs::CollisionMapConstPtr, bool)> | onBeforeMapUpdate_ |
| boost::function< void(const mapping_msgs::CollisionObjectConstPtr)> | onCollisionObjectUpdate_ |
| double | padd_ |
| double | pointcloud_padd_ |
| ros::ServiceServer | revert_allowed_collisions_service_ |
| double | scale_ |
| ros::ServiceServer | set_allowed_collisions_service_ |
| bool | use_collision_map_ |
CollisionSpaceMonitor is a class which in addition to being aware of a robot model, is also aware of a collision space.
Definition at line 62 of file collision_space_monitor.h.
| planning_environment::CollisionSpaceMonitor::CollisionSpaceMonitor | ( | CollisionModels * | cm, | |
| tf::TransformListener * | tf | |||
| ) | [inline] |
Definition at line 60 of file collision_space_monitor.h.
| virtual planning_environment::CollisionSpaceMonitor::~CollisionSpaceMonitor | ( | void | ) | [inline, virtual] |
Definition at line 67 of file collision_space_monitor.h.
| void planning_environment::CollisionSpaceMonitor::addAttachedCollisionObjects | ( | std::vector< std::string > & | svec | ) | const [protected] |
Definition at line 1290 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::advertiseServices | ( | ) | [virtual] |
Once everything is functional this advertises any services that the monitor may offer
Reimplemented from planning_environment::KinematicModelStateMonitor.
Definition at line 118 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::applyLinkPaddingToCollisionSpace | ( | const std::vector< motion_planning_msgs::LinkPadding > & | link_padding | ) |
Applies indicated padding to links.
Definition at line 1124 of file collision_space_monitor.cpp.
| bool planning_environment::CollisionSpaceMonitor::applyOrderedCollisionOperationsToCollisionSpace | ( | const motion_planning_msgs::OrderedCollisionOperations & | ord, | |
| bool | print = false | |||
| ) |
This function changes the allowed collisions in the collision space to reflect the contents of the message. This allowed collison set will be in place until revert is called.
Definition at line 1040 of file collision_space_monitor.cpp.
| bool planning_environment::CollisionSpaceMonitor::applyOrderedCollisionOperationsToMatrix | ( | const motion_planning_msgs::OrderedCollisionOperations & | ord, | |
| std::vector< std::vector< bool > > & | curAllowed, | |||
| std::map< std::string, unsigned int > & | vecIndices | |||
| ) |
Applies ordered collision operations to a matrix with entries and indices specified.
Definition at line 1067 of file collision_space_monitor.cpp.
| bool planning_environment::CollisionSpaceMonitor::attachObjectCallback | ( | const mapping_msgs::AttachedCollisionObjectConstPtr & | attachedObject | ) | [protected, virtual] |
Definition at line 621 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::collisionMapAsBoxes | ( | const mapping_msgs::CollisionMapConstPtr & | collisionMap, | |
| std::vector< shapes::Shape * > & | boxes, | |||
| std::vector< btTransform > & | poses | |||
| ) | [protected] |
Definition at line 322 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::collisionMapAsBoxes | ( | const mapping_msgs::CollisionMap & | collisionMap, | |
| std::vector< shapes::Shape * > & | boxes, | |||
| std::vector< btTransform > & | poses | |||
| ) | [protected] |
Definition at line 328 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::collisionMapAsSpheres | ( | const mapping_msgs::CollisionMapConstPtr & | collisionMap, | |
| std::vector< shapes::Shape * > & | spheres, | |||
| std::vector< btTransform > & | poses | |||
| ) | [protected] |
Definition at line 266 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::collisionMapCallback | ( | const mapping_msgs::CollisionMapConstPtr & | collisionMap | ) | [protected] |
Definition at line 261 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::collisionMapUpdateCallback | ( | const mapping_msgs::CollisionMapConstPtr & | collisionMap | ) | [protected] |
Definition at line 255 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::collisionObjectCallback | ( | const mapping_msgs::CollisionObjectConstPtr & | collisionObject | ) | [protected] |
Definition at line 548 of file collision_space_monitor.cpp.
| bool planning_environment::CollisionSpaceMonitor::computeAllowedContact | ( | const motion_planning_msgs::AllowedContactSpecification & | region, | |
| collision_space::EnvironmentModel::AllowedContact & | allowedContact | |||
| ) | const |
Convert an allowed contact message into the structure accepted by the collision space.
Definition at line 827 of file collision_space_monitor.cpp.
| bool planning_environment::CollisionSpaceMonitor::expandOrderedCollisionOperations | ( | const motion_planning_msgs::OrderedCollisionOperations & | ord, | |
| motion_planning_msgs::OrderedCollisionOperations & | ex | |||
| ) |
Helper function for expanding collision operations given groups and attached bodies.
Definition at line 1158 of file collision_space_monitor.cpp.
| CollisionModels* planning_environment::CollisionSpaceMonitor::getCollisionModels | ( | void | ) | const [inline] |
Return the instance of collision models that is being used.
Definition at line 107 of file collision_space_monitor.h.
| bool planning_environment::CollisionSpaceMonitor::getCurrentAllowedCollisionsService | ( | planning_environment_msgs::GetAllowedCollisionMatrix::Request & | req, | |
| planning_environment_msgs::GetAllowedCollisionMatrix::Response & | res | |||
| ) |
This function gets whatever allowed collision matrix is currently in use by the collision space.
Definition at line 985 of file collision_space_monitor.cpp.
| collision_space::EnvironmentModel* planning_environment::CollisionSpaceMonitor::getEnvironmentModel | ( | void | ) | const [inline] |
Return the instance of the environment model maintained.
Definition at line 101 of file collision_space_monitor.h.
| bool planning_environment::CollisionSpaceMonitor::getObjectsService | ( | planning_environment_msgs::GetCollisionObjects::Request & | req, | |
| planning_environment_msgs::GetCollisionObjects::Response & | res | |||
| ) |
Definition at line 892 of file collision_space_monitor.cpp.
| double planning_environment::CollisionSpaceMonitor::getPointCloudPadd | ( | void | ) | const [inline] |
Returns the padding used for pointclouds (for collision checking).
Definition at line 155 of file collision_space_monitor.h.
| bool planning_environment::CollisionSpaceMonitor::haveMap | ( | void | ) | const [inline] |
Return true if map has been received.
Definition at line 137 of file collision_space_monitor.h.
| bool planning_environment::CollisionSpaceMonitor::isEnvironmentMonitorStarted | ( | void | ) | const [inline] |
Check if the environment monitor is currently started.
Definition at line 95 of file collision_space_monitor.h.
| bool planning_environment::CollisionSpaceMonitor::isMapUpdated | ( | double | sec | ) | const |
Return true if a map update has been received in the last sec seconds. If sec < 10us, this function always returns true.
Definition at line 214 of file collision_space_monitor.cpp.
| const ros::Time& planning_environment::CollisionSpaceMonitor::lastMapUpdate | ( | void | ) | const [inline] |
Return the last update time for the map.
Definition at line 149 of file collision_space_monitor.h.
| void planning_environment::CollisionSpaceMonitor::maskCollisionMapForCollisionObjects | ( | std::vector< shapes::Shape * > & | all_shapes, | |
| std::vector< btTransform > & | all_poses, | |||
| std::vector< bool > & | mask | |||
| ) | [protected] |
Definition at line 442 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::printAllowedCollisionMatrix | ( | const std::vector< std::vector< bool > > & | curAllowed, | |
| const std::map< std::string, unsigned int > & | vecIndices | |||
| ) | const |
This gets the allowed collision information from the environment and prints it to std::out for debug purposes.
Definition at line 1265 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::recoverAttachedCollisionObjects | ( | const collision_space::EnvironmentModel * | env, | |
| std::vector< mapping_msgs::AttachedCollisionObject > & | avec | |||
| ) |
If the user modified some instance of an environment model, this function provides the means to obtain a set of attached objects in map.
Definition at line 948 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::recoverAttachedCollisionObjects | ( | std::vector< mapping_msgs::AttachedCollisionObject > & | avec | ) |
This function provides the means to obtain a set of attached objects in map from the current environment.
Definition at line 943 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::recoverCollisionMap | ( | const collision_space::EnvironmentModel * | env, | |
| mapping_msgs::CollisionMap & | cmap | |||
| ) |
If the user modified some instance of an environment model, this function provides the means to obtain a collision map (the set of boxes) from that environment model.
Definition at line 854 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::recoverCollisionMap | ( | mapping_msgs::CollisionMap & | cmap | ) |
This function provides the means to obtain a collision map (the set of boxes) from the current environment model.
Definition at line 849 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::recoverCollisionObjects | ( | const collision_space::EnvironmentModel * | env, | |
| std::vector< mapping_msgs::CollisionObject > & | omap | |||
| ) |
If the user modified some instance of an environment model, this function provides the means to obtain a set of objects in map (all objects that are not in the namespace the collision map was added to).
Definition at line 911 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::recoverCollisionObjects | ( | std::vector< mapping_msgs::CollisionObject > & | omap | ) |
This function provides the means to obtain a set of objects in map (all objects that are not in the namespace the collision map was added to) from the current environment.
Definition at line 906 of file collision_space_monitor.cpp.
| bool planning_environment::CollisionSpaceMonitor::revertAllowedCollisionMatrixToDefaultService | ( | std_srvs::Empty::Request & | req, | |
| std_srvs::Empty::Response & | res | |||
| ) |
Service for reverting the allowed collision matrix to the default.
Definition at line 1032 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::revertAllowedCollisionToDefault | ( | ) |
This function reverts the allowed collisions in the collision space to the default.
Definition at line 1117 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::revertCollisionSpacePaddingToDefault | ( | ) |
Applies indicated padding to links.
Definition at line 1152 of file collision_space_monitor.cpp.
| bool planning_environment::CollisionSpaceMonitor::setAllowedCollisionsService | ( | planning_environment_msgs::SetAllowedCollisions::Request & | req, | |
| planning_environment_msgs::SetAllowedCollisions::Response & | res | |||
| ) |
This service sets the allowed collisions using ordered collision operations. The set collisions will remain in effect until a revert to default is called.
Definition at line 1014 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::setCollisionSpace | ( | ) |
Definition at line 512 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::setOnAfterAttachCollisionObjectCallback | ( | const boost::function< void(const mapping_msgs::AttachedCollisionObjectConstPtr &attachedObject)> & | callback | ) | [inline] |
Define a callback for after updating a map.
Definition at line 125 of file collision_space_monitor.h.
| void planning_environment::CollisionSpaceMonitor::setOnAfterCollisionObjectCallback | ( | const boost::function< void(const mapping_msgs::CollisionObjectConstPtr &attachedObject)> & | callback | ) | [inline] |
Define a callback for after updating objects.
Definition at line 131 of file collision_space_monitor.h.
| void planning_environment::CollisionSpaceMonitor::setOnAfterMapUpdateCallback | ( | const boost::function< void(const mapping_msgs::CollisionMapConstPtr, bool)> & | callback | ) | [inline] |
Define a callback for after updating a map.
Definition at line 119 of file collision_space_monitor.h.
| void planning_environment::CollisionSpaceMonitor::setOnBeforeMapUpdateCallback | ( | const boost::function< void(const mapping_msgs::CollisionMapConstPtr, bool)> & | callback | ) | [inline] |
Define a callback for before updating a map.
Definition at line 113 of file collision_space_monitor.h.
| void planning_environment::CollisionSpaceMonitor::setupCSM | ( | void | ) | [protected] |
Definition at line 60 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::setUseCollisionMap | ( | bool | use | ) |
Definition at line 126 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::startEnvironmentMonitor | ( | void | ) |
Start the environment monitor. By default, the monitor is started after creation.
Definition at line 87 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::stopEnvironmentMonitor | ( | void | ) |
Stop the environment monitor.
Definition at line 164 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::updateCollisionSpace | ( | const mapping_msgs::CollisionMapConstPtr & | collisionMap, | |
| bool | clear | |||
| ) | [protected] |
Definition at line 495 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::updateStaticObjectBodies | ( | const mapping_msgs::CollisionObjectConstPtr & | collisionObject | ) | [protected] |
Definition at line 387 of file collision_space_monitor.cpp.
| void planning_environment::CollisionSpaceMonitor::waitForMap | ( | void | ) | const |
Wait until a map is received.
Definition at line 236 of file collision_space_monitor.cpp.
message_filters::Subscriber<mapping_msgs::AttachedCollisionObject>* planning_environment::CollisionSpaceMonitor::attachedCollisionObjectSubscriber_ [protected] |
Definition at line 327 of file collision_space_monitor.h.
Definition at line 310 of file collision_space_monitor.h.
boost::recursive_mutex planning_environment::CollisionSpaceMonitor::collision_map_lock_ [protected] |
Definition at line 338 of file collision_space_monitor.h.
boost::recursive_mutex planning_environment::CollisionSpaceMonitor::collision_objects_lock_ [protected] |
Definition at line 336 of file collision_space_monitor.h.
tf::MessageFilter<mapping_msgs::CollisionMap>* planning_environment::CollisionSpaceMonitor::collisionMapFilter_ [protected] |
Definition at line 321 of file collision_space_monitor.h.
message_filters::Subscriber<mapping_msgs::CollisionMap>* planning_environment::CollisionSpaceMonitor::collisionMapSubscriber_ [protected] |
Definition at line 320 of file collision_space_monitor.h.
tf::MessageFilter<mapping_msgs::CollisionMap>* planning_environment::CollisionSpaceMonitor::collisionMapUpdateFilter_ [protected] |
Definition at line 323 of file collision_space_monitor.h.
message_filters::Subscriber<mapping_msgs::CollisionMap>* planning_environment::CollisionSpaceMonitor::collisionMapUpdateSubscriber_ [protected] |
Definition at line 322 of file collision_space_monitor.h.
tf::MessageFilter<mapping_msgs::CollisionObject>* planning_environment::CollisionSpaceMonitor::collisionObjectFilter_ [protected] |
Definition at line 325 of file collision_space_monitor.h.
std::map<std::string, KnownObject*> planning_environment::CollisionSpaceMonitor::collisionObjects_ [protected] |
Definition at line 335 of file collision_space_monitor.h.
message_filters::Subscriber<mapping_msgs::CollisionObject>* planning_environment::CollisionSpaceMonitor::collisionObjectSubscriber_ [protected] |
Definition at line 324 of file collision_space_monitor.h.
collision_space::EnvironmentModel* planning_environment::CollisionSpaceMonitor::collisionSpace_ [protected] |
Definition at line 311 of file collision_space_monitor.h.
bool planning_environment::CollisionSpaceMonitor::envMonitorStarted_ [protected] |
Definition at line 315 of file collision_space_monitor.h.
ros::ServiceServer planning_environment::CollisionSpaceMonitor::get_current_collision_map_service_ [protected] |
Definition at line 330 of file collision_space_monitor.h.
ros::ServiceServer planning_environment::CollisionSpaceMonitor::get_objects_service_ [protected] |
Definition at line 329 of file collision_space_monitor.h.
bool planning_environment::CollisionSpaceMonitor::haveMap_ [protected] |
Definition at line 317 of file collision_space_monitor.h.
mapping_msgs::CollisionMap planning_environment::CollisionSpaceMonitor::last_collision_map_ [protected] |
Definition at line 344 of file collision_space_monitor.h.
std::vector<bool> planning_environment::CollisionSpaceMonitor::last_collision_map_object_mask_ [protected] |
Definition at line 342 of file collision_space_monitor.h.
std::vector<btTransform> planning_environment::CollisionSpaceMonitor::last_collision_map_poses_ [protected] |
Definition at line 340 of file collision_space_monitor.h.
std::vector<shapes::Shape*> planning_environment::CollisionSpaceMonitor::last_collision_map_shapes_ [protected] |
Definition at line 339 of file collision_space_monitor.h.
ros::Time planning_environment::CollisionSpaceMonitor::lastMapUpdate_ [protected] |
Definition at line 318 of file collision_space_monitor.h.
boost::mutex planning_environment::CollisionSpaceMonitor::mapUpdateLock_ [protected] |
Definition at line 312 of file collision_space_monitor.h.
boost::function<void(const mapping_msgs::AttachedCollisionObjectConstPtr &attachedObject)> planning_environment::CollisionSpaceMonitor::onAfterAttachCollisionObject_ [protected] |
Definition at line 348 of file collision_space_monitor.h.
boost::function<void(const mapping_msgs::CollisionMapConstPtr, bool)> planning_environment::CollisionSpaceMonitor::onAfterMapUpdate_ [protected] |
Definition at line 350 of file collision_space_monitor.h.
boost::function<void(const mapping_msgs::CollisionMapConstPtr, bool)> planning_environment::CollisionSpaceMonitor::onBeforeMapUpdate_ [protected] |
Definition at line 349 of file collision_space_monitor.h.
boost::function<void(const mapping_msgs::CollisionObjectConstPtr)> planning_environment::CollisionSpaceMonitor::onCollisionObjectUpdate_ [protected] |
Definition at line 351 of file collision_space_monitor.h.
double planning_environment::CollisionSpaceMonitor::padd_ [protected] |
Definition at line 346 of file collision_space_monitor.h.
double planning_environment::CollisionSpaceMonitor::pointcloud_padd_ [protected] |
Definition at line 313 of file collision_space_monitor.h.
ros::ServiceServer planning_environment::CollisionSpaceMonitor::revert_allowed_collisions_service_ [protected] |
Definition at line 332 of file collision_space_monitor.h.
double planning_environment::CollisionSpaceMonitor::scale_ [protected] |
Definition at line 345 of file collision_space_monitor.h.
ros::ServiceServer planning_environment::CollisionSpaceMonitor::set_allowed_collisions_service_ [protected] |
Definition at line 331 of file collision_space_monitor.h.
bool planning_environment::CollisionSpaceMonitor::use_collision_map_ [protected] |
Definition at line 334 of file collision_space_monitor.h.
