Public Member Functions | Private Member Functions | Private Attributes
move_arm::MoveArm Class Reference

List of all members.

Public Member Functions

bool configure ()
 MoveArm (const std::string &group_name)
virtual ~MoveArm ()

Private Member Functions

bool computeIK (const geometry_msgs::PoseStamped &pose_stamped_msg, const std::string &link_name, sensor_msgs::JointState &solution)
void controllerTransitionCallback (JointExecutorActionClient::GoalHandle gh)
bool convertPoseGoalToJointGoal (arm_navigation_msgs::GetMotionPlan::Request &req)
bool createPlan (arm_navigation_msgs::GetMotionPlan::Request &req, arm_navigation_msgs::GetMotionPlan::Response &res)
void discretizeTrajectory (const trajectory_msgs::JointTrajectory &trajectory, trajectory_msgs::JointTrajectory &trajectory_out, const double &trajectory_discretization)
bool doPrePlanningChecks (arm_navigation_msgs::GetMotionPlan::Request &req, arm_navigation_msgs::GetMotionPlan::Response &res)
void execute (const arm_navigation_msgs::MoveArmGoalConstPtr &goal)
bool executeCycle (arm_navigation_msgs::GetMotionPlan::Request &req)
void fillTrajectoryMsg (const trajectory_msgs::JointTrajectory &trajectory_in, trajectory_msgs::JointTrajectory &trajectory_out)
bool filterTrajectory (const trajectory_msgs::JointTrajectory &trajectory_in, trajectory_msgs::JointTrajectory &trajectory_out)
bool getAndSetPlanningScene (const arm_navigation_msgs::PlanningScene &planning_diff, const arm_navigation_msgs::OrderedCollisionOperations &operations)
bool getRobotState (planning_models::KinematicState *state)
bool hasPoseGoal (arm_navigation_msgs::GetMotionPlan::Request &req)
bool initializeControllerInterface ()
bool isControllerDone (arm_navigation_msgs::ArmNavigationErrorCodes &error_code)
bool isExecutionSafe ()
bool isJointGoal (arm_navigation_msgs::GetMotionPlan::Request &req)
bool isPoseGoal (arm_navigation_msgs::GetMotionPlan::Request &req)
void moveArmGoalToPlannerRequest (const arm_navigation_msgs::MoveArmGoalConstPtr &goal, arm_navigation_msgs::GetMotionPlan::Request &req)
void printTrajectory (const trajectory_msgs::JointTrajectory &trajectory)
void publishStats ()
void resetStateMachine ()
void resetToStartState (planning_models::KinematicState *state)
bool revertPlanningScene ()
bool sendTrajectory (trajectory_msgs::JointTrajectory &current_trajectory)
bool stopTrajectory ()
void visualizeAllowedContactRegions (const std::vector< arm_navigation_msgs::AllowedContactSpecification > &allowed_contacts)
void visualizeJointGoal (arm_navigation_msgs::GetMotionPlan::Request &req)
void visualizeJointGoal (const trajectory_msgs::JointTrajectory &trajectory)
void visualizePlan (const trajectory_msgs::JointTrajectory &trajectory)

Private Attributes

boost::shared_ptr
< actionlib::SimpleActionServer
< arm_navigation_msgs::MoveArmAction > > 
action_server_
std::vector< std::string > all_link_names_
ros::Publisher allowed_contact_regions_publisher_
bool arm_ik_initialized_
planning_environment::CollisionModelscollision_models_
JointExecutorActionClientcontroller_action_client_
JointExecutorActionClient::GoalHandle controller_goal_handle_
ControllerStatus controller_status_
arm_navigation_msgs::PlanningScene current_planning_scene_
trajectory_msgs::JointTrajectory current_trajectory_
ros::Publisher display_joint_goal_publisher_
ros::Publisher display_path_publisher_
ros::ServiceClient filter_trajectory_client_
ros::ServiceClient get_state_client_
std::string group_
std::vector< std::string > group_joint_names_
std::vector< std::string > group_link_names_
double ik_allowed_time_
ros::ServiceClient ik_client_
arm_navigation_msgs::MoveArmFeedback move_arm_action_feedback_
arm_navigation_msgs::MoveArmResult move_arm_action_result_
double move_arm_frequency_
MoveArmParameters move_arm_parameters_
arm_navigation_msgs::MoveArmStatistics move_arm_stats_
int num_planning_attempts_
arm_navigation_msgs::GetMotionPlan::Request original_request_
planning_models::KinematicStateplanning_scene_state_
ros::NodeHandle private_handle_
bool publish_stats_
ros::NodeHandle root_handle_
ros::ServiceClient set_planning_scene_diff_client_
arm_navigation_msgs::SetPlanningSceneDiff::Request set_planning_scene_diff_req_
arm_navigation_msgs::SetPlanningSceneDiff::Response set_planning_scene_diff_res_
MoveArmState state_
ros::Publisher stats_publisher_
tf::TransformListenertf_
ros::ServiceClient trajectory_cancel_client_
double trajectory_discretization_
double trajectory_filter_allowed_time_
ros::ServiceClient trajectory_query_client_
ros::ServiceClient trajectory_start_client_
ros::Publisher vis_marker_array_publisher_
ros::Publisher vis_marker_publisher_

Detailed Description

Definition at line 134 of file move_arm_simple_action.cpp.


Constructor & Destructor Documentation

move_arm::MoveArm::MoveArm ( const std::string &  group_name) [inline]

Definition at line 138 of file move_arm_simple_action.cpp.

virtual move_arm::MoveArm::~MoveArm ( ) [inline, virtual]

Definition at line 176 of file move_arm_simple_action.cpp.


Member Function Documentation

bool move_arm::MoveArm::computeIK ( const geometry_msgs::PoseStamped &  pose_stamped_msg,
const std::string &  link_name,
sensor_msgs::JointState &  solution 
) [inline, private]

Definition at line 289 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::configure ( void  ) [inline]

Definition at line 182 of file move_arm_simple_action.cpp.

Definition at line 689 of file move_arm_simple_action.cpp.

Kinematics

Definition at line 209 of file move_arm_simple_action.cpp.

Definition at line 590 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::discretizeTrajectory ( const trajectory_msgs::JointTrajectory &  trajectory,
trajectory_msgs::JointTrajectory &  trajectory_out,
const double &  trajectory_discretization 
) [inline, private]

End Trajectory Filtering

Definition at line 373 of file move_arm_simple_action.cpp.

Definition at line 490 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::execute ( const arm_navigation_msgs::MoveArmGoalConstPtr goal) [inline, private]

Definition at line 1073 of file move_arm_simple_action.cpp.

Definition at line 846 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::fillTrajectoryMsg ( const trajectory_msgs::JointTrajectory &  trajectory_in,
trajectory_msgs::JointTrajectory &  trajectory_out 
) [inline, private]

Definition at line 749 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::filterTrajectory ( const trajectory_msgs::JointTrajectory &  trajectory_in,
trajectory_msgs::JointTrajectory &  trajectory_out 
) [inline, private]

End Kinematics Trajectory Filtering

Definition at line 333 of file move_arm_simple_action.cpp.

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End Motion planning Control

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State and trajectory validity checks Helper functions

Definition at line 412 of file move_arm_simple_action.cpp.

End Helper Functions Motion planning

Definition at line 467 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::printTrajectory ( const trajectory_msgs::JointTrajectory &  trajectory) [inline, private]

Definition at line 1240 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::publishStats ( ) [inline, private]

End State machine Visualization and I/O

Definition at line 1221 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::resetStateMachine ( ) [inline, private]

End Control State machine

Definition at line 839 of file move_arm_simple_action.cpp.

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bool move_arm::MoveArm::sendTrajectory ( trajectory_msgs::JointTrajectory &  current_trajectory) [inline, private]

Definition at line 652 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::stopTrajectory ( ) [inline, private]

Definition at line 644 of file move_arm_simple_action.cpp.

Definition at line 1297 of file move_arm_simple_action.cpp.

Definition at line 1251 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::visualizeJointGoal ( const trajectory_msgs::JointTrajectory &  trajectory) [inline, private]

Definition at line 1270 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::visualizePlan ( const trajectory_msgs::JointTrajectory &  trajectory) [inline, private]

Definition at line 1282 of file move_arm_simple_action.cpp.


Member Data Documentation

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trajectory_msgs::JointTrajectory move_arm::MoveArm::current_trajectory_ [private]

Definition at line 1391 of file move_arm_simple_action.cpp.

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std::string move_arm::MoveArm::group_ [private]

End Visualization and I/O

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


move_arm
Author(s): Ioan Sucan, Sachin Chitta(sachinc@willowgarage.com)
autogenerated on Thu Dec 12 2013 11:09:40