Public Member Functions
void	cloudCallback (const sensor_msgs::PointCloud2ConstPtr &cloud2)
void	controllerDoneCallback (const actionlib::SimpleClientGoalState &state, const control_msgs::FollowJointTrajectoryResultConstPtr &result)
trajectory_msgs::JointTrajectory	generateHeadTrajectory (const std::string &link, const trajectory_msgs::JointTrajectory &joint_trajectory)
	HeadMonitor ()
void	jointStateCallback (const sensor_msgs::JointStateConstPtr &joint_state)
void	lookAt (std::string frame_id, double x, double y, double z, bool wait)
void	monitorGoalCallback ()
void	monitorPreemptCallback ()
void	moveInsideSafetyLimits (const head_monitor_msgs::PreplanHeadScanGoalConstPtr &goal, const planning_models::KinematicState &state)
void	pauseTimeoutCallback ()
void	preplanHeadScanCallback (const head_monitor_msgs::PreplanHeadScanGoalConstPtr &goal)
void	stopArm ()
void	stopEverything ()
void	stopHead ()
void	trajectoryTimerCallback ()
	~HeadMonitor (void)
Protected Attributes
planning_environment::CollisionModelsInterface *	collision_models_interface_
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction > *	current_arm_controller_action_client_
head_monitor_msgs::HeadMonitorStatus	current_execution_status_
std::string	current_group_name_
bool	do_monitoring_
bool	do_preplan_scan_
double	goal_head_pan_
double	goal_head_tilt_
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	head_controller_action_client_
actionlib::SimpleActionServer < head_monitor_msgs::HeadMonitorAction >	head_monitor_action_server_
actionlib::SimpleActionServer < head_monitor_msgs::PreplanHeadScanAction >	head_preplan_scan_action_server_
planning_environment::KinematicModelStateMonitor *	kmsm_
sensor_msgs::JointState	last_joint_state_
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction > *	left_arm_controller_action_client_
trajectory_msgs::JointTrajectory	logged_trajectory_
ros::Time	logged_trajectory_start_time_
visualization_msgs::Marker	marker_
ros::Publisher	marker_pub_
double	max_point_distance_
tf::MessageFilter < sensor_msgs::PointCloud2 > *	mn_
head_monitor_msgs::HeadMonitorFeedback	monitor_feedback_
head_monitor_msgs::HeadMonitorGoal	monitor_goal_
head_monitor_msgs::HeadMonitorResult	monitor_result_
double	pause_time_
ros::Timer	paused_callback_timer_
actionlib::SimpleActionClient < pr2_controllers_msgs::PointHeadAction >	point_head_action_client_
double	point_sphere_size_
ros::NodeHandle	private_handle_
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction > *	right_arm_controller_action_client_
ros::NodeHandle	root_handle_
double	start_head_pan_
double	start_head_tilt_
ros::Timer	start_trajectory_timer_
message_filters::Subscriber < sensor_msgs::PointCloud2 > *	sub_
tf::TransformListener	tf_
bool	use_left_arm_
bool	use_right_arm_

Detailed Description

Definition at line 85 of file move_arm_head_monitor.cpp.

Constructor & Destructor Documentation

HeadMonitor::HeadMonitor ( ) [inline]

Definition at line 143 of file move_arm_head_monitor.cpp.

HeadMonitor::~HeadMonitor ( void ) [inline]

Definition at line 203 of file move_arm_head_monitor.cpp.

Member Function Documentation

void HeadMonitor::cloudCallback ( const sensor_msgs::PointCloud2ConstPtr & cloud2 ) [inline]

Message and action callbacks

Definition at line 215 of file move_arm_head_monitor.cpp.

void HeadMonitor::controllerDoneCallback	(	const actionlib::SimpleClientGoalState &	state,
		const control_msgs::FollowJointTrajectoryResultConstPtr &	result
	)		`[inline]`

Definition at line 708 of file move_arm_head_monitor.cpp.

trajectory_msgs::JointTrajectory HeadMonitor::generateHeadTrajectory	(	const std::string &	link,
		const trajectory_msgs::JointTrajectory &	joint_trajectory
	)		`[inline]`

Convenience functions

Definition at line 757 of file move_arm_head_monitor.cpp.

void HeadMonitor::jointStateCallback ( const sensor_msgs::JointStateConstPtr & joint_state ) [inline]

Definition at line 683 of file move_arm_head_monitor.cpp.

void HeadMonitor::lookAt	(	std::string	frame_id,
		double	x,
		double	y,
		double	z,
		bool	wait
	)		`[inline]`

Definition at line 784 of file move_arm_head_monitor.cpp.

void HeadMonitor::monitorGoalCallback ( ) [inline]

Definition at line 590 of file move_arm_head_monitor.cpp.

void HeadMonitor::monitorPreemptCallback ( ) [inline]

Definition at line 666 of file move_arm_head_monitor.cpp.

void HeadMonitor::moveInsideSafetyLimits	(	const head_monitor_msgs::PreplanHeadScanGoalConstPtr &	goal,
		const planning_models::KinematicState &	state
	)		`[inline]`