planning_components_visualizer.cpp File Reference

#include <termios.h>
#include <signal.h>
#include <cstdio>
#include <cstdlib>
#include <unistd.h>
#include <math.h>
#include <ros/ros.h>
#include <planning_environment/models/collision_models.h>
#include <arm_navigation_msgs/PlanningScene.h>
#include <arm_navigation_msgs/SetPlanningSceneDiff.h>
#include <planning_environment/models/model_utils.h>
#include <rosgraph_msgs/Clock.h>
#include <tf/transform_broadcaster.h>
#include <kinematics_msgs/GetConstraintAwarePositionIK.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <actionlib/client/simple_action_client.h>
#include <arm_navigation_msgs/GetMotionPlan.h>
#include <arm_navigation_msgs/GetStateValidity.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <arm_navigation_msgs/FilterJointTrajectoryWithConstraints.h>
#include <arm_navigation_msgs/convert_messages.h>
#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>
#include <sensor_msgs/JointState.h>

Include dependency graph for planning_components_visualizer.cpp:

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Classes
struct	PlanningComponentsVisualizer::GroupCollection
class	PlanningComponentsVisualizer
struct	PlanningComponentsVisualizer::SelectableMarker
	Contains data for selectable markers. Stored in a large map. More...
struct	PlanningComponentsVisualizer::StateTrajectoryDisplay
Typedefs
typedef map < MenuHandler::EntryHandle, string >	MenuEntryMap
typedef map< string, MenuHandler >	MenuHandlerMap
typedef map< string, MenuEntryMap >	MenuMap
Functions
int	main (int argc, char **argv)
void	quit (int sig)
void	spin_function ()
void	update_function ()
Variables
static const double	BASE_ROT_SPEED = .15
static const double	BASE_TRANS_SPEED = .3
static const unsigned int	CONTROL_SPEED = 10
static const double	HAND_ROT_SPEED = .15
static const double	HAND_TRANS_SPEED = .05
bool	inited = false
PlanningComponentsVisualizer *	pcv
static const string	PLANNER_SERVICE_NAME = "/ompl_planning/plan_kinematic_path"
static const ros::Duration	PLANNING_DURATION = ros::Duration(5.0)
static const string	SET_PLANNING_SCENE_DIFF_NAME = "/environment_server/set_planning_scene_diff"
static const string	TRAJECTORY_FILTER_SERVICE_NAME = "/trajectory_filter_server/filter_trajectory_with_constraints"
static const string	VIS_TOPIC_NAME = "planning_components_visualizer"