planning_environment::CollisionSpaceMonitor Class Reference

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>

Inheritance diagram for planning_environment::CollisionSpaceMonitor:

[legend]

List of all members.

Public Member Functions
	CollisionSpaceMonitor (CollisionModels cm, tf::TransformListener tf)
CollisionModels *	getCollisionModels (void) const
	Return the instance of collision models that is being used.
const collision_space::EnvironmentModel *	getEnvironmentModel (void) const
	Return the instance of the environment model maintained.
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	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
virtual bool	attachObjectCallback (const arm_navigation_msgs::AttachedCollisionObjectConstPtr &attachedObject)
void	collisionMapAsBoxes (const arm_navigation_msgs::CollisionMapConstPtr &collisionMap, std::vector< shapes::Shape * > &boxes, std::vector< btTransform > &poses)
void	collisionMapAsBoxes (const arm_navigation_msgs::CollisionMap &collisionMap, std::vector< shapes::Shape * > &boxes, std::vector< btTransform > &poses)
void	collisionMapAsSpheres (const arm_navigation_msgs::CollisionMapConstPtr &collisionMap, std::vector< shapes::Shape * > &spheres, std::vector< btTransform > &poses)
void	collisionMapCallback (const arm_navigation_msgs::CollisionMapConstPtr &collisionMap)
void	collisionMapUpdateCallback (const arm_navigation_msgs::CollisionMapConstPtr &collisionMap)
void	collisionObjectCallback (const arm_navigation_msgs::CollisionObjectConstPtr &collisionObject)
void	setupCSM (void)
void	updateCollisionSpace (const arm_navigation_msgs::CollisionMapConstPtr &collisionMap, bool clear)
Protected Attributes
message_filters::Subscriber < arm_navigation_msgs::AttachedCollisionObject > *	attachedCollisionObjectSubscriber_
CollisionModels *	cm_
boost::recursive_mutex	collision_map_lock_
tf::MessageFilter < arm_navigation_msgs::CollisionMap > *	collisionMapFilter_
message_filters::Subscriber < arm_navigation_msgs::CollisionMap > *	collisionMapSubscriber_
tf::MessageFilter < arm_navigation_msgs::CollisionMap > *	collisionMapUpdateFilter_
message_filters::Subscriber < arm_navigation_msgs::CollisionMap > *	collisionMapUpdateSubscriber_
tf::MessageFilter < arm_navigation_msgs::CollisionObject > *	collisionObjectFilter_
message_filters::Subscriber < arm_navigation_msgs::CollisionObject > *	collisionObjectSubscriber_
bool	envMonitorStarted_
bool	have_map_
ros::Time	last_map_update_
double	pointcloud_padd_
bool	use_collision_map_

Detailed Description

CollisionSpaceMonitor is a class which in addition to being aware of a robot model, is also aware of a collision space.

Definition at line 54 of file collision_space_monitor.h.

Constructor & Destructor Documentation

planning_environment::CollisionSpaceMonitor::CollisionSpaceMonitor	(	CollisionModels *	cm,
		tf::TransformListener *	tf
	)			`[inline]`

Definition at line 58 of file collision_space_monitor.h.

virtual planning_environment::CollisionSpaceMonitor::~CollisionSpaceMonitor ( void ) [inline, virtual]

Definition at line 64 of file collision_space_monitor.h.

Member Function Documentation

bool planning_environment::CollisionSpaceMonitor::attachObjectCallback ( const arm_navigation_msgs::AttachedCollisionObjectConstPtr & attachedObject ) [protected, virtual]

Definition at line 371 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionMapAsBoxes	(	const arm_navigation_msgs::CollisionMapConstPtr &	collisionMap,
		std::vector< shapes::Shape * > &	boxes,
		std::vector< btTransform > &	poses
	)			`[protected]`

Definition at line 288 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionMapAsBoxes	(	const arm_navigation_msgs::CollisionMap &	collisionMap,
		std::vector< shapes::Shape * > &	boxes,
		std::vector< btTransform > &	poses
	)			`[protected]`

Definition at line 294 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionMapAsSpheres	(	const arm_navigation_msgs::CollisionMapConstPtr &	collisionMap,
		std::vector< shapes::Shape * > &	spheres,
		std::vector< btTransform > &	poses
	)			`[protected]`

Definition at line 232 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionMapCallback ( const arm_navigation_msgs::CollisionMapConstPtr & collisionMap ) [protected]

Definition at line 227 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionMapUpdateCallback ( const arm_navigation_msgs::CollisionMapConstPtr & collisionMap ) [protected]

Definition at line 221 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionObjectCallback ( const arm_navigation_msgs::CollisionObjectConstPtr & collisionObject ) [protected]

Definition at line 366 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 102 of file collision_space_monitor.h.

const collision_space::EnvironmentModel* planning_environment::CollisionSpaceMonitor::getEnvironmentModel ( void ) const [inline]

Return the instance of the environment model maintained.

Definition at line 96 of file collision_space_monitor.h.

double planning_environment::CollisionSpaceMonitor::getPointCloudPadd ( void ) const [inline]

Returns the padding used for pointclouds (for collision checking).

Definition at line 126 of file collision_space_monitor.h.

bool planning_environment::CollisionSpaceMonitor::haveMap ( void ) const [inline]

Return true if map has been received.

Definition at line 108 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 90 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 180 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 120 of file collision_space_monitor.h.

void planning_environment::CollisionSpaceMonitor::setupCSM ( void ) [protected]

Definition at line 52 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::setUseCollisionMap ( bool use )

Definition at line 99 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 70 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::stopEnvironmentMonitor ( void )

Stop the environment monitor.

Definition at line 137 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::updateCollisionSpace	(	const arm_navigation_msgs::CollisionMapConstPtr &	collisionMap,
		bool	clear
	)			`[protected]`