planning_environment Namespace Reference

Classes
class	CollisionModels
	A class capable of loading a robot model from the parameter server. More...
class	CollisionModelsInterface
	A class capable of loading a robot model from the parameter server. More...
class	CollisionOperationsGenerator
class	CollisionSpaceMonitor
	CollisionSpaceMonitor is a class which in addition to being aware of a robot model, is also aware of a collision space. More...
class	EnvironmentServer
class	JointConstraintEvaluator
class	JointStateMonitor
	More...
class	KinematicConstraintEvaluator
class	KinematicConstraintEvaluatorSet
class	KinematicModelStateMonitor
	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...
class	OrientationConstraintEvaluator
class	PlanningMonitor
	PlanningMonitor is a class which in addition to being aware of a robot model, and the collision model is also aware of constraints and can check the validity of states and paths. More...
class	PlanningSceneValidityServer
class	PositionConstraintEvaluator
class	RobotModels
	A class capable of loading a robot model from the parameter server. More...
class	VisibilityConstraintEvaluator
Functions
bool	applyOrderedCollisionOperationsListToACM (const arm_navigation_msgs::OrderedCollisionOperations &ordered_coll, const std::vector< std::string > &object_names, const std::vector< std::string > &att_names, const planning_models::KinematicModel *model, collision_space::EnvironmentModel::AllowedCollisionMatrix &matrix)
arm_navigation_msgs::AllowedCollisionMatrix	applyOrderedCollisionOperationsToCollisionsModel (const CollisionModels *cm, const arm_navigation_msgs::OrderedCollisionOperations &ordered_coll, const std::vector< std::string > &object_names, const std::vector< std::string > &att_names)
void	applyOrderedCollisionOperationsToMatrix (const arm_navigation_msgs::OrderedCollisionOperations &ord, collision_space::EnvironmentModel::AllowedCollisionMatrix &acm)
int	closestStateOnTrajectory (const boost::shared_ptr< urdf::Model > &model, const trajectory_msgs::JointTrajectory &trajectory, const sensor_msgs::JointState &joint_state, unsigned int start, unsigned int end)
bool	computeAttachedObjectPointCloudMask (const pcl::PointCloud< pcl::PointXYZ > &pcl_cloud, const std::string &sensor_frame, CollisionModels *cm, tf::TransformListener &tf, std::vector< int > &mask)
int	computeAttachedObjectPointMask (const planning_environment::CollisionModels *cm, const btVector3 &pt, const btVector3 &sensor_pos)
bool	configureForAttachedBodyMask (planning_models::KinematicState &state, planning_environment::CollisionModels *cm, tf::TransformListener &tf, const std::string &sensor_frame, const ros::Time &sensor_time, btVector3 &sensor_pos)
shapes::Shape *	constructObject (const arm_navigation_msgs::Shape &obj)
bool	constructObjectMsg (const shapes::Shape *shape, arm_navigation_msgs::Shape &obj, double padding=0.0)
void	convertAllowedContactSpecificationMsgToAllowedContactVector (const std::vector< arm_navigation_msgs::AllowedContactSpecification > &acmv, std::vector< collision_space::EnvironmentModel::AllowedContact > &acv)
collision_space::EnvironmentModel::AllowedCollisionMatrix	convertFromACMMsgToACM (const arm_navigation_msgs::AllowedCollisionMatrix &matrix)
void	convertFromACMToACMMsg (const collision_space::EnvironmentModel::AllowedCollisionMatrix &acm, arm_navigation_msgs::AllowedCollisionMatrix &matrix)
void	convertFromLinkPaddingMapToLinkPaddingVector (const std::map< std::string, double > &link_padding_map, std::vector< arm_navigation_msgs::LinkPadding > &link_padding_vector)
void	convertKinematicStateToRobotState (const planning_models::KinematicState &kinematic_state, const ros::Time &timestamp, const std::string &header_frame, arm_navigation_msgs::RobotState &robot_state)
bool	createAndPoseShapes (tf::TransformListener &tf, const std::vector< arm_navigation_msgs::Shape > &orig_shapes, const std::vector< geometry_msgs::Pose > &orig_poses, const std_msgs::Header &header, const std::string &frame_to, std::vector< shapes::Shape * > &conv_shapes, std::vector< btTransform > &conv_poses)
bool	createConstraintRegionFromMsg (const arm_navigation_msgs::Shape &constraint_region_shape, const geometry_msgs::Pose &constraint_region_pose, boost::scoped_ptr< bodies::Body > &body)
bool	doesKinematicStateObeyConstraints (const planning_models::KinematicState &state, const arm_navigation_msgs::Constraints &constraints, bool verbose=false)
void	getAllKinematicStateStampedTransforms (const planning_models::KinematicState &state, std::vector< geometry_msgs::TransformStamped > &trans_vector, const ros::Time &stamp)
bool	getLatestIdentityTransform (const std::string &to_frame, const std::string &from_frame, tf::TransformListener &tf, btTransform &pose)
static double	maxCoord (const geometry_msgs::Point32 &point)
bool	processAttachedCollisionObjectMsg (const arm_navigation_msgs::AttachedCollisionObjectConstPtr &attached_object, tf::TransformListener &tf, CollisionModels *cm)
bool	processCollisionObjectMsg (const arm_navigation_msgs::CollisionObjectConstPtr &collision_object, tf::TransformListener &tf, CollisionModels *cm)
bool	removeCompletedTrajectory (const boost::shared_ptr< urdf::Model > &model, const trajectory_msgs::JointTrajectory &trajectory_in, const sensor_msgs::JointState &current_state, trajectory_msgs::JointTrajectory &trajectory_out, bool zero_vel_acc)
void	setMarkerShapeFromShape (const shapes::Shape *obj, visualization_msgs::Marker &mk, double padding=0.0)
void	setMarkerShapeFromShape (const arm_navigation_msgs::Shape &obj, visualization_msgs::Marker &mk)
bool	setRobotStateAndComputeTransforms (const arm_navigation_msgs::RobotState &robot_state, planning_models::KinematicState &state)
void	updateAttachedObjectBodyPoses (planning_environment::CollisionModels *cm, planning_models::KinematicState &state, tf::TransformListener &tf)

---

Detailed Description

Author:

E. Gil Jones

Ioan Sucan

Sachin Chitta

Ioan Sucan, E. Gil Jones

---

Function Documentation

bool planning_environment::applyOrderedCollisionOperationsListToACM	(	const arm_navigation_msgs::OrderedCollisionOperations &	ordered_coll,
		const std::vector< std::string > &	object_names,
		const std::vector< std::string > &	att_names,
		const planning_models::KinematicModel *	model,
		collision_space::EnvironmentModel::AllowedCollisionMatrix &	matrix
	)

Definition at line 241 of file model_utils.cpp.

arm_navigation_msgs::AllowedCollisionMatrix planning_environment::applyOrderedCollisionOperationsToCollisionsModel	(	const CollisionModels *	cm,
		const arm_navigation_msgs::OrderedCollisionOperations &	ordered_coll,
		const std::vector< std::string > &	object_names,
		const std::vector< std::string > &	att_names
	)

Definition at line 332 of file model_utils.cpp.

void planning_environment::applyOrderedCollisionOperationsToMatrix	(	const arm_navigation_msgs::OrderedCollisionOperations &	ord,
		collision_space::EnvironmentModel::AllowedCollisionMatrix &	acm
	)

Definition at line 150 of file model_utils.cpp.

int planning_environment::closestStateOnTrajectory	(	const boost::shared_ptr< urdf::Model > &	model,
		const trajectory_msgs::JointTrajectory &	trajectory,
		const sensor_msgs::JointState &	joint_state,
		unsigned int	start,
		unsigned int	end
	)

Definition at line 388 of file monitor_utils.cpp.

bool planning_environment::computeAttachedObjectPointCloudMask	(	const pcl::PointCloud< pcl::PointXYZ > &	pcl_cloud,
		const std::string &	sensor_frame,
		planning_environment::CollisionModels *	cm,
		tf::TransformListener &	tf,
		std::vector< int > &	mask
	)

Definition at line 348 of file monitor_utils.cpp.

int planning_environment::computeAttachedObjectPointMask	(	const planning_environment::CollisionModels *	cm,
		const btVector3 &	pt,
		const btVector3 &	sensor_pos
	)

Definition at line 272 of file monitor_utils.cpp.

bool planning_environment::configureForAttachedBodyMask	(	planning_models::KinematicState &	state,
		planning_environment::CollisionModels *	cm,
		tf::TransformListener &	tf,
		const std::string &	sensor_frame,
		const ros::Time &	sensor_time,
		btVector3 &	sensor_pos
	)

Definition at line 308 of file monitor_utils.cpp.

shapes::Shape * planning_environment::constructObject

(

const arm_navigation_msgs::Shape &

obj

)

Author:

Ioan Sucan

Definition at line 41 of file construct_object.cpp.

bool planning_environment::constructObjectMsg	(	const shapes::Shape *	shape,
		arm_navigation_msgs::Shape &	obj,
		double	padding = 0.0
	)

Definition at line 101 of file construct_object.cpp.

void planning_environment::convertAllowedContactSpecificationMsgToAllowedContactVector	(	const std::vector< arm_navigation_msgs::AllowedContactSpecification > &	acmv,
		std::vector< collision_space::EnvironmentModel::AllowedContact > &	acv
	)

Definition at line 573 of file model_utils.cpp.

collision_space::EnvironmentModel::AllowedCollisionMatrix planning_environment::convertFromACMMsgToACM

(

const arm_navigation_msgs::AllowedCollisionMatrix &

matrix

)

Definition at line 218 of file model_utils.cpp.

void planning_environment::convertFromACMToACMMsg	(	const collision_space::EnvironmentModel::AllowedCollisionMatrix &	acm,
		arm_navigation_msgs::AllowedCollisionMatrix &	matrix
	)

Definition at line 194 of file model_utils.cpp.

void planning_environment::convertFromLinkPaddingMapToLinkPaddingVector	(	const std::map< std::string, double > &	link_padding_map,
		std::vector< arm_navigation_msgs::LinkPadding > &	link_padding_vector
	)

Definition at line 543 of file model_utils.cpp.

void planning_environment::convertKinematicStateToRobotState	(	const planning_models::KinematicState &	kinematic_state,
		const ros::Time &	timestamp,
		const std::string &	header_frame,
		arm_navigation_msgs::RobotState &	robot_state
	)

Definition at line 111 of file model_utils.cpp.

bool planning_environment::createAndPoseShapes	(	tf::TransformListener &	tf,
		const std::vector< arm_navigation_msgs::Shape > &	orig_shapes,
		const std::vector< geometry_msgs::Pose > &	orig_poses,
		const std_msgs::Header &	header,
		const std::string &	frame_to,
		std::vector< shapes::Shape * > &	conv_shapes,
		std::vector< btTransform > &	conv_poses
	)

Definition at line 70 of file monitor_utils.cpp.

bool planning_environment::createConstraintRegionFromMsg	(	const arm_navigation_msgs::Shape &	constraint_region_shape,
		const geometry_msgs::Pose &	constraint_region_pose,
		boost::scoped_ptr< bodies::Body > &	body
	)

Definition at line 114 of file kinematic_state_constraint_evaluator.cpp.

bool planning_environment::doesKinematicStateObeyConstraints	(	const planning_models::KinematicState &	state,
		const arm_navigation_msgs::Constraints &	constraints,
		bool	verbose = false
	)

Definition at line 358 of file model_utils.cpp.

void planning_environment::getAllKinematicStateStampedTransforms	(	const planning_models::KinematicState &	state,
		std::vector< geometry_msgs::TransformStamped > &	trans_vector,
		const ros::Time &	stamp
	)

Definition at line 556 of file model_utils.cpp.

bool planning_environment::getLatestIdentityTransform	(	const std::string &	to_frame,
		const std::string &	from_frame,
		tf::TransformListener &	tf,
		btTransform &	pose
	)

Author:

E. Gil Jones

Definition at line 43 of file monitor_utils.cpp.

static double planning_environment::maxCoord

(

const geometry_msgs::Point32 &

point

)

[inline, static]

Definition at line 46 of file collision_space_monitor.cpp.

bool planning_environment::processAttachedCollisionObjectMsg	(	const arm_navigation_msgs::AttachedCollisionObjectConstPtr &	attached_object,
		tf::TransformListener &	tf,
		planning_environment::CollisionModels *	cm
	)

Definition at line 151 of file monitor_utils.cpp.

bool planning_environment::processCollisionObjectMsg	(	const arm_navigation_msgs::CollisionObjectConstPtr &	collision_object,
		tf::TransformListener &	tf,
		planning_environment::CollisionModels *	cm
	)

Definition at line 108 of file monitor_utils.cpp.

bool planning_environment::removeCompletedTrajectory	(	const boost::shared_ptr< urdf::Model > &	model,
		const trajectory_msgs::JointTrajectory &	trajectory_in,
		const sensor_msgs::JointState &	current_state,
		trajectory_msgs::JointTrajectory &	trajectory_out,
		bool	zero_vel_acc
	)

Definition at line 451 of file monitor_utils.cpp.

void planning_environment::setMarkerShapeFromShape	(	const shapes::Shape *	obj,
		visualization_msgs::Marker &	mk,
		double	padding = 0.0
	)

Definition at line 416 of file model_utils.cpp.

void planning_environment::setMarkerShapeFromShape	(	const arm_navigation_msgs::Shape &	obj,
		visualization_msgs::Marker &	mk
	)

Definition at line 370 of file model_utils.cpp.

bool planning_environment::setRobotStateAndComputeTransforms	(	const arm_navigation_msgs::RobotState &	robot_state,
		planning_models::KinematicState &	state
	)

Author:

E. Gil Jones

Definition at line 42 of file model_utils.cpp.

void planning_environment::updateAttachedObjectBodyPoses	(	planning_environment::CollisionModels *	cm,
		planning_models::KinematicState &	state,
		tf::TransformListener &	tf
	)

Definition at line 235 of file monitor_utils.cpp.