KinematicModelStateMonitor is a class that monitors the robot state for the kinematic model defined in RobotModels If the pose is not included, the robot state is the frame of the link it attaches to the world. If the pose is included, the frame of the robot is the one in which the pose is published. More...
#include <kinematic_model_state_monitor.h>
Public Member Functions | |
| void | addOnStateUpdateCallback (const boost::function< void(const sensor_msgs::JointStateConstPtr &joint_state)> &callback) |
| bool | allJointsUpdated (ros::Duration dur=ros::Duration()) const |
| bool | getCachedJointStateValues (const ros::Time &time, std::map< std::string, double > &ret_map) const |
| std::map< std::string, double > | getCurrentJointStateValues () const |
| bool | getCurrentRobotState (arm_navigation_msgs::RobotState &robot_state) const |
| const planning_models::KinematicModel * | getKinematicModel (void) const |
| Get the kinematic model that is being used to check for validity. | |
| RobotModels * | getRobotModels (void) const |
| Get the instance of RobotModels that is being used. | |
| tf::TransformListener * | getTransformListener (void) const |
| Return the transform listener. | |
| bool | haveState (void) const |
| Return true if a full joint state has been received (including pose, if pose inclusion is enabled). | |
| bool | isJointStateUpdated (double sec) const |
| Return true if a joint state has been received in the last sec seconds. If sec < 10us, this function always returns true. | |
| bool | isPoseUpdated (double sec) const |
| Return true if a pose has been received in the last sec seconds. If sec < 10us, this function always returns true. | |
| bool | isStateMonitorStarted (void) const |
| Check if the state monitor is currently started. | |
| KinematicModelStateMonitor (RobotModels *rm, tf::TransformListener *tf) | |
| const ros::Time & | lastJointStateUpdate (void) const |
| Return the time of the last state update. | |
| const ros::Time & | lastPoseUpdate (void) const |
| Return the time of the last pose update. | |
| void | printRobotState (void) const |
| Output the current state as ROS INFO. | |
| bool | setKinematicStateToTime (const ros::Time &time, planning_models::KinematicState &state) const |
| void | setStateValuesFromCurrentValues (planning_models::KinematicState &state) const |
| Sets the model used for collision/valditity checking to the current state values. | |
| void | startStateMonitor (void) |
| Start the state monitor. By default, the monitor is started after creation. | |
| void | stopStateMonitor (void) |
| Stop the state monitor. | |
| void | waitForState (void) const |
| Wait until a full joint state is received (including pose, if pose inclusion is enabled). | |
| virtual | ~KinematicModelStateMonitor (void) |
Protected Member Functions | |
| void | jointStateCallback (const sensor_msgs::JointStateConstPtr &joint_state) |
| void | setupRSM (void) |
Protected Attributes | |
| std::map< std::string, double > | current_joint_state_map_ |
| boost::recursive_mutex | current_joint_values_lock_ |
| bool | have_joint_state_ |
| bool | have_pose_ |
| double | joint_state_cache_allowed_difference_ |
| double | joint_state_cache_time_ |
| std::list< std::pair < ros::Time, std::map < std::string, double > > > | joint_state_map_cache_ |
| ros::Subscriber | joint_state_subscriber_ |
| const planning_models::KinematicModel * | kmodel_ |
| ros::Time | last_joint_state_update_ |
| std::map< std::string, ros::Time > | last_joint_update_ |
| ros::Time | last_pose_update_ |
| ros::NodeHandle | nh_ |
| boost::function< void(const sensor_msgs::JointStateConstPtr &joint_state)> | on_state_update_callback_ |
| tf::Pose | pose_ |
| bool | printed_out_of_date_ |
| RobotModels * | rm_ |
| std::string | robot_frame_ |
| ros::NodeHandle | root_handle_ |
| bool | state_monitor_started_ |
| tf::TransformListener * | tf_ |
KinematicModelStateMonitor is a class that monitors the robot state for the kinematic model defined in RobotModels If the pose is not included, the robot state is the frame of the link it attaches to the world. If the pose is included, the frame of the robot is the one in which the pose is published.
Definition at line 60 of file kinematic_model_state_monitor.h.
| planning_environment::KinematicModelStateMonitor::KinematicModelStateMonitor | ( | RobotModels * | rm, | |
| tf::TransformListener * | tf | |||
| ) | [inline] |
Definition at line 64 of file kinematic_model_state_monitor.h.
| virtual planning_environment::KinematicModelStateMonitor::~KinematicModelStateMonitor | ( | void | ) | [inline, virtual] |
Definition at line 71 of file kinematic_model_state_monitor.h.
| void planning_environment::KinematicModelStateMonitor::addOnStateUpdateCallback | ( | const boost::function< void(const sensor_msgs::JointStateConstPtr &joint_state)> & | callback | ) | [inline] |
Definition at line 87 of file kinematic_model_state_monitor.h.
| bool planning_environment::KinematicModelStateMonitor::allJointsUpdated | ( | ros::Duration | dur = ros::Duration() |
) | const |
Definition at line 226 of file kinematic_model_state_monitor.cpp.
| bool planning_environment::KinematicModelStateMonitor::getCachedJointStateValues | ( | const ros::Time & | time, | |
| std::map< std::string, double > & | ret_map | |||
| ) | const |
Definition at line 277 of file kinematic_model_state_monitor.cpp.
| std::map<std::string, double> planning_environment::KinematicModelStateMonitor::getCurrentJointStateValues | ( | ) | const [inline] |
Definition at line 154 of file kinematic_model_state_monitor.h.
| bool planning_environment::KinematicModelStateMonitor::getCurrentRobotState | ( | arm_navigation_msgs::RobotState & | robot_state | ) | const |
Definition at line 258 of file kinematic_model_state_monitor.cpp.
| const planning_models::KinematicModel* planning_environment::KinematicModelStateMonitor::getKinematicModel | ( | void | ) | const [inline] |
Get the kinematic model that is being used to check for validity.
Definition at line 92 of file kinematic_model_state_monitor.h.
| RobotModels* planning_environment::KinematicModelStateMonitor::getRobotModels | ( | void | ) | const [inline] |
Get the instance of RobotModels that is being used.
Definition at line 98 of file kinematic_model_state_monitor.h.
| tf::TransformListener* planning_environment::KinematicModelStateMonitor::getTransformListener | ( | void | ) | const [inline] |
Return the transform listener.
Definition at line 104 of file kinematic_model_state_monitor.h.
| bool planning_environment::KinematicModelStateMonitor::haveState | ( | void | ) | const [inline] |
Return true if a full joint state has been received (including pose, if pose inclusion is enabled).
Definition at line 110 of file kinematic_model_state_monitor.h.
| bool planning_environment::KinematicModelStateMonitor::isJointStateUpdated | ( | double | sec | ) | const |
Return true if a joint state has been received in the last sec seconds. If sec < 10us, this function always returns true.
Definition at line 349 of file kinematic_model_state_monitor.cpp.
| bool planning_environment::KinematicModelStateMonitor::isPoseUpdated | ( | double | sec | ) | const |
Return true if a pose has been received in the last sec seconds. If sec < 10us, this function always returns true.
Definition at line 379 of file kinematic_model_state_monitor.cpp.
| bool planning_environment::KinematicModelStateMonitor::isStateMonitorStarted | ( | void | ) | const [inline] |
Check if the state monitor is currently started.
Definition at line 82 of file kinematic_model_state_monitor.h.
| void planning_environment::KinematicModelStateMonitor::jointStateCallback | ( | const sensor_msgs::JointStateConstPtr & | joint_state | ) | [protected] |
Definition at line 93 of file kinematic_model_state_monitor.cpp.
| const ros::Time& planning_environment::KinematicModelStateMonitor::lastJointStateUpdate | ( | void | ) | const [inline] |
Return the time of the last state update.
Definition at line 116 of file kinematic_model_state_monitor.h.
| const ros::Time& planning_environment::KinematicModelStateMonitor::lastPoseUpdate | ( | void | ) | const [inline] |
Return the time of the last pose update.
Definition at line 122 of file kinematic_model_state_monitor.h.
| void planning_environment::KinematicModelStateMonitor::printRobotState | ( | void | ) | const |
Output the current state as ROS INFO.
| bool planning_environment::KinematicModelStateMonitor::setKinematicStateToTime | ( | const ros::Time & | time, | |
| planning_models::KinematicState & | state | |||
| ) | const |
Definition at line 266 of file kinematic_model_state_monitor.cpp.
| void planning_environment::KinematicModelStateMonitor::setStateValuesFromCurrentValues | ( | planning_models::KinematicState & | state | ) | const |
Sets the model used for collision/valditity checking to the current state values.
Definition at line 250 of file kinematic_model_state_monitor.cpp.
| void planning_environment::KinematicModelStateMonitor::setupRSM | ( | void | ) | [protected] |
Definition at line 43 of file kinematic_model_state_monitor.cpp.
| void planning_environment::KinematicModelStateMonitor::startStateMonitor | ( | void | ) |
Start the state monitor. By default, the monitor is started after creation.
Definition at line 65 of file kinematic_model_state_monitor.cpp.
| void planning_environment::KinematicModelStateMonitor::stopStateMonitor | ( | void | ) |
Stop the state monitor.
Definition at line 79 of file kinematic_model_state_monitor.cpp.
| void planning_environment::KinematicModelStateMonitor::waitForState | ( | void | ) | const |
Wait until a full joint state is received (including pose, if pose inclusion is enabled).
Definition at line 330 of file kinematic_model_state_monitor.cpp.
std::map<std::string, double> planning_environment::KinematicModelStateMonitor::current_joint_state_map_ [protected] |
Definition at line 169 of file kinematic_model_state_monitor.h.
boost::recursive_mutex planning_environment::KinematicModelStateMonitor::current_joint_values_lock_ [mutable, protected] |
Definition at line 171 of file kinematic_model_state_monitor.h.
bool planning_environment::KinematicModelStateMonitor::have_joint_state_ [protected] |
Definition at line 194 of file kinematic_model_state_monitor.h.
bool planning_environment::KinematicModelStateMonitor::have_pose_ [protected] |
Definition at line 193 of file kinematic_model_state_monitor.h.
double planning_environment::KinematicModelStateMonitor::joint_state_cache_allowed_difference_ [protected] |
Definition at line 174 of file kinematic_model_state_monitor.h.
double planning_environment::KinematicModelStateMonitor::joint_state_cache_time_ [protected] |
Definition at line 173 of file kinematic_model_state_monitor.h.
std::list<std::pair<ros::Time, std::map<std::string, double> > > planning_environment::KinematicModelStateMonitor::joint_state_map_cache_ [protected] |
Definition at line 166 of file kinematic_model_state_monitor.h.
ros::Subscriber planning_environment::KinematicModelStateMonitor::joint_state_subscriber_ [protected] |
Definition at line 185 of file kinematic_model_state_monitor.h.
const planning_models::KinematicModel* planning_environment::KinematicModelStateMonitor::kmodel_ [protected] |
Definition at line 178 of file kinematic_model_state_monitor.h.
Definition at line 195 of file kinematic_model_state_monitor.h.
std::map<std::string, ros::Time> planning_environment::KinematicModelStateMonitor::last_joint_update_ [protected] |
Definition at line 168 of file kinematic_model_state_monitor.h.
Definition at line 196 of file kinematic_model_state_monitor.h.
Definition at line 183 of file kinematic_model_state_monitor.h.
boost::function<void(const sensor_msgs::JointStateConstPtr &joint_state)> planning_environment::KinematicModelStateMonitor::on_state_update_callback_ [protected] |
Definition at line 191 of file kinematic_model_state_monitor.h.
Definition at line 188 of file kinematic_model_state_monitor.h.
Definition at line 181 of file kinematic_model_state_monitor.h.
Definition at line 176 of file kinematic_model_state_monitor.h.
std::string planning_environment::KinematicModelStateMonitor::robot_frame_ [protected] |
Definition at line 189 of file kinematic_model_state_monitor.h.
Definition at line 184 of file kinematic_model_state_monitor.h.
Definition at line 180 of file kinematic_model_state_monitor.h.
Definition at line 186 of file kinematic_model_state_monitor.h.
