#include <planning_display.h>

Inheritance diagram for motion_planning_rviz_plugin::PlanningDisplay:

Public Member Functions
void	changedAlpha ()
void	changedCollisionVisible ()
	Set whether the collision representation should be displayed.
void	changedLoopDisplay ()
void	changedRobotDescription ()
	Set the robot description parameter.
void	changedStateDisplayTime ()
	Set the amount of time each state should display for.
void	changedTopic ()
	Set the topic to listen on for the JointPath message.
void	changedVisualVisible ()
	Set whether the visual mesh representation should be displayed.
virtual void	fixedFrameChanged ()
virtual void	onInitialize ()
	PlanningDisplay ()
virtual void	update (float wall_dt, float ros_dt)
virtual	~PlanningDisplay ()
Protected Member Functions
void	advertise ()
	Advertises any ROS topics.
void	calculateRobotPosition ()
	Uses libTF to set the robot's position, given the target frame and the planning frame.
void	incomingJointPath (const arm_navigation_msgs::DisplayTrajectory::ConstPtr &msg)
	ROS callback for an incoming kinematic path message.
void	load ()
	Loads a URDF from our description_param_.
virtual void	onDisable ()
virtual void	onEnable ()
void	subscribe ()
	Subscribes to any ROS topics we need to subscribe to.
void	unadvertise ()
	Unadvertises all ROS topics that we have advertised.
void	unsubscribe ()
	Unsubscribes from all ROS topics we're currently subscribed to.
Protected Attributes
float	alpha_
rviz::FloatProperty *	alpha_property_
bool	animating_path_
rviz::BoolProperty *	collision_enabled_property_
int	current_state_
float	current_state_time_
std::string	description_param_
	ROS parameter that contains the robot xml description.
arm_navigation_msgs::DisplayTrajectory::ConstPtr	displaying_kinematic_path_message_
planning_environment::RobotModels *	env_models_
arm_navigation_msgs::DisplayTrajectory::ConstPtr	incoming_kinematic_path_message_
const planning_models::KinematicModel *	kinematic_model_
std::string	kinematic_path_topic_
bool	loop_display_
rviz::BoolProperty *	loop_display_property_
bool	new_kinematic_path_
rviz::Robot *	robot_
	Handles actually drawing the robot.
rviz::StringProperty *	robot_description_property_
float	state_display_time_
rviz::FloatProperty *	state_display_time_property_
ros::Publisher	state_publisher_
ros::Subscriber	sub_
rviz::RosTopicProperty *	topic_property_
rviz::BoolProperty *	visual_enabled_property_

Detailed Description

Definition at line 74 of file planning_display.h.

Constructor & Destructor Documentation

motion_planning_rviz_plugin::PlanningDisplay::PlanningDisplay ( )

Definition at line 90 of file planning_display.cpp.

motion_planning_rviz_plugin::PlanningDisplay::~PlanningDisplay ( ) [virtual]

Definition at line 129 of file planning_display.cpp.

Member Function Documentation

void motion_planning_rviz_plugin::PlanningDisplay::advertise ( ) [protected]

Advertises any ROS topics.

Definition at line 247 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::calculateRobotPosition ( ) [protected]

Uses libTF to set the robot's position, given the target frame and the planning frame.

Definition at line 376 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::changedAlpha ( )

Definition at line 150 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::changedCollisionVisible ( )

Set whether the collision representation should be displayed.

Parameters:

visible

Definition at line 175 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::changedLoopDisplay ( )

Definition at line 145 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::changedRobotDescription ( )

Set the robot description parameter.

Parameters:

description_param The ROS parameter name which contains the robot xml description

Definition at line 137 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::changedStateDisplayTime ( )

Set the amount of time each state should display for.

Parameters:

time	The length of time, in seconds

Definition at line 165 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::changedTopic ( )

Set the topic to listen on for the JointPath message.

Parameters:

topic The ROS topic

Definition at line 156 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::changedVisualVisible ( )

Set whether the visual mesh representation should be displayed.

Parameters:

visible

Definition at line 170 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::fixedFrameChanged ( ) [virtual]

Reimplemented from rviz::Display.

Definition at line 415 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::incomingJointPath ( const arm_navigation_msgs::DisplayTrajectory::ConstPtr & msg ) [protected]

ROS callback for an incoming kinematic path message.

Definition at line 409 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::load ( ) [protected]

Loads a URDF from our description_param_.

Definition at line 180 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::onDisable ( ) [protected, virtual]

Implements rviz::Display.

Definition at line 221 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::onEnable ( ) [protected, virtual]

Implements rviz::Display.

Definition at line 213 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::onInitialize ( ) [virtual]

Reimplemented from rviz::Display.

Definition at line 123 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::subscribe ( ) [protected]

Subscribes to any ROS topics we need to subscribe to.

Definition at line 228 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::unadvertise ( ) [protected]

Unadvertises all ROS topics that we have advertised.

Definition at line 256 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::unsubscribe ( ) [protected]

Unsubscribes from all ROS topics we're currently subscribed to.

Definition at line 242 of file planning_display.cpp.

void motion_planning_rviz_plugin::PlanningDisplay::update	(	float	wall_dt,
		float	ros_dt
	)		`[virtual]`

Reimplemented from rviz::Display.

Definition at line 262 of file planning_display.cpp.

Member Data Documentation

float motion_planning_rviz_plugin::PlanningDisplay::alpha_ [protected]

Definition at line 175 of file planning_display.h.

rviz::FloatProperty* motion_planning_rviz_plugin::PlanningDisplay::alpha_property_ [protected]

Definition at line 182 of file planning_display.h.

bool motion_planning_rviz_plugin::PlanningDisplay::animating_path_ [protected]

Definition at line 170 of file planning_display.h.

rviz::BoolProperty* motion_planning_rviz_plugin::PlanningDisplay::collision_enabled_property_ [protected]

Definition at line 178 of file planning_display.h.

int motion_planning_rviz_plugin::PlanningDisplay::current_state_ [protected]

Definition at line 171 of file planning_display.h.

float motion_planning_rviz_plugin::PlanningDisplay::current_state_time_ [protected]

Definition at line 174 of file planning_display.h.

std::string motion_planning_rviz_plugin::PlanningDisplay::description_param_ [protected]

ROS parameter that contains the robot xml description.

Definition at line 159 of file planning_display.h.

arm_navigation_msgs::DisplayTrajectory::ConstPtr motion_planning_rviz_plugin::PlanningDisplay::displaying_kinematic_path_message_ [protected]

Definition at line 168 of file planning_display.h.

planning_environment::RobotModels* motion_planning_rviz_plugin::PlanningDisplay::env_models_ [protected]

Definition at line 165 of file planning_display.h.

arm_navigation_msgs::DisplayTrajectory::ConstPtr motion_planning_rviz_plugin::PlanningDisplay::incoming_kinematic_path_message_ [protected]

Definition at line 167 of file planning_display.h.

const planning_models::KinematicModel* motion_planning_rviz_plugin::PlanningDisplay::kinematic_model_ [protected]

Definition at line 166 of file planning_display.h.

std::string motion_planning_rviz_plugin::PlanningDisplay::kinematic_path_topic_ [protected]

Definition at line 164 of file planning_display.h.

bool motion_planning_rviz_plugin::PlanningDisplay::loop_display_ [protected]

Definition at line 172 of file planning_display.h.

rviz::BoolProperty* motion_planning_rviz_plugin::PlanningDisplay::loop_display_property_ [protected]

Definition at line 183 of file planning_display.h.

bool motion_planning_rviz_plugin::PlanningDisplay::new_kinematic_path_ [protected]

Definition at line 169 of file planning_display.h.

rviz::Robot* motion_planning_rviz_plugin::PlanningDisplay::robot_ [protected]

Handles actually drawing the robot.

Definition at line 161 of file planning_display.h.

rviz::StringProperty* motion_planning_rviz_plugin::PlanningDisplay::robot_description_property_ [protected]

Definition at line 180 of file planning_display.h.

float motion_planning_rviz_plugin::PlanningDisplay::state_display_time_ [protected]

Definition at line 173 of file planning_display.h.

rviz::FloatProperty* motion_planning_rviz_plugin::PlanningDisplay::state_display_time_property_ [protected]

Definition at line 179 of file planning_display.h.

ros::Publisher motion_planning_rviz_plugin::PlanningDisplay::state_publisher_ [protected]

Definition at line 185 of file planning_display.h.

ros::Subscriber motion_planning_rviz_plugin::PlanningDisplay::sub_ [protected]

Definition at line 163 of file planning_display.h.

rviz::RosTopicProperty* motion_planning_rviz_plugin::PlanningDisplay::topic_property_ [protected]

Definition at line 181 of file planning_display.h.

rviz::BoolProperty* motion_planning_rviz_plugin::PlanningDisplay::visual_enabled_property_ [protected]

Definition at line 177 of file planning_display.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation