Public Types | Public Member Functions | Public Attributes | Protected Attributes
planning_scene_utils::TrajectoryData Class Reference

Convenience class wrapping a trajectory message and its meta-data. More...

#include <move_arm_utils.h>

List of all members.

Public Types

enum  MarkerType { VISUAL, COLLISION, PADDED }

Public Member Functions

void advanceThroughTrajectory (int amount)
 Sets the current state of the trajectory to the current trajectory point + amount. Allows for negative values. Does not overshoot the trajectory's end or start.
void advanceToNextClosestPoint (ros::Time time)
 Gets the closest point on the trajectory whereby the point.time_from_start <= time - playback_start_time_.
bool areCollisionsVisible () const
 Returns true if the collision sphers are being published, and false otherwise.
unsigned int getBadPoint () const
 Returns the trajectory point where an error occurred.
visualization_msgs::MarkerArray & getCollisionMarkers ()
 Returns an array of small red spheres associated with each collision point.
const std_msgs::ColorRGBA & getColor () const
 Returns the color of the markers representing the current state being published in Rviz.
unsigned int getCurrentPoint () const
 see setCurrentPoint
planning_models::KinematicStategetCurrentState ()
 Gets the current kinematic state displayed by the planning scene editor. This state is also checked for collisions.
const ros::DurationgetDuration () const
 For planners, returns the time it took to plan the trajectory, for filters, the time it took to filter it, and for robot monitors, the time it took to execute the trajectory.
const std::string & getGroupName () const
 Gets the planning group associated with the trajectory (usually right arm or left arm)
unsigned int getId () const
 Returns the unique Id of the trajectory.
MarkerType getMarkerType () const
const unsigned int & getMotionPlanRequestId () const
 See setMotionPlanRequestId.
const std::string & getName () const
unsigned int getPlanningScendId () const
RenderType getRenderType () const
 Gets what mesh to display in RVIZ.
std::string getSource ()
 Returns the pipeline stage of the trajectory.
trajectory_msgs::JointTrajectory & getTrajectory ()
 Returns the underlying trajectory message.
trajectory_msgs::JointTrajectory & getTrajectoryError ()
 Returns the underlying trajectory.
TrajectoryRenderType getTrajectoryRenderType () const
 Gets what trajectory rendering method to display in RVIZ.
size_t getTrajectorySize () const
 Returns the number of discrete points in the trajectory.
bool hasRefreshedColors () const
 Returns ture if the refresh counter has been exhausted, and false otherwise.
bool hasStateChanged () const
 Returns true if the current state has been recently changed, and false otherwise.
void hide ()
 Shorthand for setVisible(false)
void hideCollisions ()
 Shorthand for setCollisionsVisible(false)
bool isPlaying () const
 Returns true if the current state is automatically marching through trajectory points, and false ow.
bool isVisible () const
 Returns true if the current state is being shown in rviz, and false otherwise.
void play ()
 Starts playback of trajectory.
void refreshColors ()
 Sets the refresh_counter and assocated booleans so that the planning scene editor will cease publishing markers for a while, allowing the color of the markers to change.
void reset ()
 Deletes the kinematic states associated with the trajectory.
void setBadPoint (unsigned int point)
 Sets the point of the trajectory where an error occurred.
void setCollisionsVisible (bool shown)
 see areCollisionVisible
void setColor (const std_msgs::ColorRGBA &color)
 See getColor.
void setCurrentPoint (unsigned int point)
 Sets the current joint trajectory point displayed in Rviz.
void setCurrentState (planning_models::KinematicState *state)
 see getCurrentState
void setDuration (const ros::Duration &duration)
 See getDuration.
void setGroupname (const std::string &group_name)
 Sets the planning group name of the trajectory (usually right arm or left arm)
void setGroupName (std::string name)
 Sets the plannign group name associated with the trajectory (usually right arm or left arm)
void setHasRefreshedColors (bool refresh)
 See hasRefreshedColors.
void setId (const unsigned int &id)
 Sets the unique Id of the trajectory.
void setMarkerType (MarkerType mt)
 Sets whether padded trimeshes are to be shown.
void setMotionPlanRequestId (const unsigned int &Id)
 Sets the unique Id corresponding to the motion plan request associated with this trajectory.
void setPlanningSceneId (const unsigned int id)
void setRenderType (RenderType renderType)
 Sets what mesh to display in RVIZ.
void setSource (const std::string &source)
 See getSource.
void setStateChanged (bool changed)
 See hasStateChanged.
void setTrajectory (const trajectory_msgs::JointTrajectory &trajectory)
 see getTrajectory
void setTrajectoryError (const trajectory_msgs::JointTrajectory &trajectory_error)
 see getTrajectoryError
void setTrajectoryRenderType (TrajectoryRenderType renderType)
 Sets what trajectory rendering method to display in RVIZ.
void setVisible (bool visible)
 See isVisible.
bool shouldRefreshColors () const
 Returns true if the trajectory's color has changed, and false otherwise.
void show ()
 Shorthand for setVisible(true)
void showCollisions ()
 Shorthand for setCollisionsVisible(true)
void stop ()
 Stops playback of trajectory.
 TrajectoryData ()
 TrajectoryData (const unsigned int &id, const std::string &source, const std::string &group_name, const trajectory_msgs::JointTrajectory &trajectory)
 TrajectoryData (const unsigned int &id, const std::string &source, const std::string &group_name, const trajectory_msgs::JointTrajectory &trajectory, const trajectory_msgs::JointTrajectory &trajectory_error)
void updateCollisionMarkers (planning_environment::CollisionModels *cm_, MotionPlanRequestData &motionPlanRequest, ros::ServiceClient *distance_state_validity_service_client_)
 Checks the current state for collisions, and fills the collision marker array with red spheres for each collision point.
void updateCurrentState ()
 Sets the joint states of the current state to those specified by the joint trajectory.

Public Attributes

ros::Duration refresh_timer_
 This counter is exhausted when the trajectory's color has changed.
arm_navigation_msgs::ArmNavigationErrorCodes trajectory_error_code_
 Corresponds to the planning, filtering, or execution outcome of the trajectory.

Protected Attributes

visualization_msgs::MarkerArray collision_markers_
bool collisions_visible_
std_msgs::ColorRGBA color_
planning_models::KinematicStatecurrent_state_
unsigned int current_trajectory_point_
ros::Duration duration_
std::string group_name_
bool has_refreshed_colors_
unsigned int id_
bool is_playing_
bool is_visible_
MarkerType marker_type_
unsigned int motion_plan_request_Id_
std::string name_
unsigned int planning_scene_id_
ros::Time playback_start_time_
RenderType render_type_
bool should_refresh_colors_
std::string source_
bool state_changed_
ros::Duration time_to_stop_
trajectory_msgs::JointTrajectory trajectory_
unsigned int trajectory_bad_point_
trajectory_msgs::JointTrajectory trajectory_error_
TrajectoryRenderType trajectory_render_type_

Detailed Description

Convenience class wrapping a trajectory message and its meta-data.

Class TrajectoryData

Definition at line 899 of file move_arm_utils.h.


Member Enumeration Documentation

Enumerator:
VISUAL 
COLLISION 
PADDED 

Definition at line 903 of file move_arm_utils.h.


Constructor & Destructor Documentation

Definition at line 110 of file move_arm_utils.cpp.

planning_scene_utils::TrajectoryData::TrajectoryData ( const unsigned int &  id,
const std::string &  source,
const std::string &  group_name,
const trajectory_msgs::JointTrajectory &  trajectory 
)
planning_scene_utils::TrajectoryData::TrajectoryData ( const unsigned int &  id,
const std::string &  source,
const std::string &  group_name,
const trajectory_msgs::JointTrajectory &  trajectory,
const trajectory_msgs::JointTrajectory &  trajectory_error 
)

Member Function Documentation

Sets the current state of the trajectory to the current trajectory point + amount. Allows for negative values. Does not overshoot the trajectory's end or start.

Definition at line 207 of file move_arm_utils.cpp.

Gets the closest point on the trajectory whereby the point.time_from_start <= time - playback_start_time_.

Definition at line 166 of file move_arm_utils.cpp.

Returns true if the collision sphers are being published, and false otherwise.

Definition at line 979 of file move_arm_utils.h.

unsigned int planning_scene_utils::TrajectoryData::getBadPoint ( ) const [inline]

Returns the trajectory point where an error occurred.

Definition at line 1128 of file move_arm_utils.h.

visualization_msgs::MarkerArray& planning_scene_utils::TrajectoryData::getCollisionMarkers ( ) [inline]

Returns an array of small red spheres associated with each collision point.

Definition at line 973 of file move_arm_utils.h.

const std_msgs::ColorRGBA& planning_scene_utils::TrajectoryData::getColor ( ) const [inline]

Returns the color of the markers representing the current state being published in Rviz.

Definition at line 1207 of file move_arm_utils.h.

see setCurrentPoint

Definition at line 1122 of file move_arm_utils.h.

Gets the current kinematic state displayed by the planning scene editor. This state is also checked for collisions.

Definition at line 1082 of file move_arm_utils.h.

For planners, returns the time it took to plan the trajectory, for filters, the time it took to filter it, and for robot monitors, the time it took to execute the trajectory.

Definition at line 1195 of file move_arm_utils.h.

const std::string& planning_scene_utils::TrajectoryData::getGroupName ( ) const [inline]

Gets the planning group associated with the trajectory (usually right arm or left arm)

Definition at line 1272 of file move_arm_utils.h.

unsigned int planning_scene_utils::TrajectoryData::getId ( ) const [inline]

Returns the unique Id of the trajectory.

Definition at line 1255 of file move_arm_utils.h.

Definition at line 1170 of file move_arm_utils.h.

const unsigned int& planning_scene_utils::TrajectoryData::getMotionPlanRequestId ( ) const [inline]

See setMotionPlanRequestId.

Definition at line 1101 of file move_arm_utils.h.

const std::string& planning_scene_utils::TrajectoryData::getName ( void  ) const [inline]

Definition at line 1267 of file move_arm_utils.h.

Definition at line 1110 of file move_arm_utils.h.

Gets what mesh to display in RVIZ.

Definition at line 1041 of file move_arm_utils.h.

Returns the pipeline stage of the trajectory.

Definition at line 1219 of file move_arm_utils.h.

trajectory_msgs::JointTrajectory& planning_scene_utils::TrajectoryData::getTrajectory ( ) [inline]

Returns the underlying trajectory message.

Definition at line 1225 of file move_arm_utils.h.

trajectory_msgs::JointTrajectory& planning_scene_utils::TrajectoryData::getTrajectoryError ( ) [inline]

Returns the underlying trajectory.

Definition at line 1243 of file move_arm_utils.h.

Gets what trajectory rendering method to display in RVIZ.

Definition at line 1053 of file move_arm_utils.h.

Returns the number of discrete points in the trajectory.

Definition at line 1003 of file move_arm_utils.h.

Returns ture if the refresh counter has been exhausted, and false otherwise.

Definition at line 1015 of file move_arm_utils.h.

Returns true if the current state has been recently changed, and false otherwise.

Definition at line 961 of file move_arm_utils.h.

Shorthand for setVisible(false)

Definition at line 1188 of file move_arm_utils.h.

Shorthand for setCollisionsVisible(false)

Definition at line 997 of file move_arm_utils.h.

Returns true if the current state is automatically marching through trajectory points, and false ow.

Definition at line 1140 of file move_arm_utils.h.

Returns true if the current state is being shown in rviz, and false otherwise.

Definition at line 1159 of file move_arm_utils.h.

Starts playback of trajectory.

Definition at line 1146 of file move_arm_utils.h.

Sets the refresh_counter and assocated booleans so that the planning scene editor will cease publishing markers for a while, allowing the color of the markers to change.

Definition at line 1033 of file move_arm_utils.h.

Deletes the kinematic states associated with the trajectory.

Definition at line 1065 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setBadPoint ( unsigned int  point) [inline]

Sets the point of the trajectory where an error occurred.

Definition at line 1278 of file move_arm_utils.h.

see areCollisionVisible

Definition at line 985 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setColor ( const std_msgs::ColorRGBA &  color) [inline]

See getColor.

Definition at line 1213 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setCurrentPoint ( unsigned int  point) [inline]

Sets the current joint trajectory point displayed in Rviz.

Definition at line 1115 of file move_arm_utils.h.

see getCurrentState

Definition at line 1088 of file move_arm_utils.h.

See getDuration.

Definition at line 1201 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setGroupname ( const std::string &  group_name) [inline]

Sets the planning group name of the trajectory (usually right arm or left arm)

Definition at line 1134 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setGroupName ( std::string  name) [inline]

Sets the plannign group name associated with the trajectory (usually right arm or left arm)

Definition at line 1284 of file move_arm_utils.h.

See hasRefreshedColors.

Definition at line 1021 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setId ( const unsigned int &  id) [inline]

Sets the unique Id of the trajectory.

Definition at line 1261 of file move_arm_utils.h.

Sets whether padded trimeshes are to be shown.

Definition at line 1176 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setMotionPlanRequestId ( const unsigned int &  Id) [inline]

Sets the unique Id corresponding to the motion plan request associated with this trajectory.

Definition at line 1095 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setPlanningSceneId ( const unsigned int  id) [inline]

Definition at line 1106 of file move_arm_utils.h.

Sets what mesh to display in RVIZ.

Definition at line 1047 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setSource ( const std::string &  source) [inline]

See getSource.

Definition at line 1231 of file move_arm_utils.h.

See hasStateChanged.

Definition at line 967 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setTrajectory ( const trajectory_msgs::JointTrajectory &  trajectory) [inline]

see getTrajectory

Definition at line 1237 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setTrajectoryError ( const trajectory_msgs::JointTrajectory &  trajectory_error) [inline]

see getTrajectoryError

Definition at line 1249 of file move_arm_utils.h.

Sets what trajectory rendering method to display in RVIZ.

Definition at line 1059 of file move_arm_utils.h.

See isVisible.

Definition at line 1165 of file move_arm_utils.h.

Returns true if the trajectory's color has changed, and false otherwise.

Definition at line 1009 of file move_arm_utils.h.

Shorthand for setVisible(true)

Definition at line 1182 of file move_arm_utils.h.

Shorthand for setCollisionsVisible(true)

Definition at line 991 of file move_arm_utils.h.

Stops playback of trajectory.

Definition at line 1153 of file move_arm_utils.h.

void TrajectoryData::updateCollisionMarkers ( planning_environment::CollisionModels cm_,
MotionPlanRequestData motionPlanRequest,
ros::ServiceClient distance_state_validity_service_client_ 
)

Checks the current state for collisions, and fills the collision marker array with red spheres for each collision point.

Definition at line 253 of file move_arm_utils.cpp.

Sets the joint states of the current state to those specified by the joint trajectory.

Definition at line 237 of file move_arm_utils.cpp.


Member Data Documentation

visualization_msgs::MarkerArray planning_scene_utils::TrajectoryData::collision_markers_ [protected]

Definition at line 931 of file move_arm_utils.h.

Definition at line 922 of file move_arm_utils.h.

std_msgs::ColorRGBA planning_scene_utils::TrajectoryData::color_ [protected]

Definition at line 924 of file move_arm_utils.h.

Definition at line 927 of file move_arm_utils.h.

Definition at line 925 of file move_arm_utils.h.

Definition at line 928 of file move_arm_utils.h.

Definition at line 913 of file move_arm_utils.h.

Definition at line 930 of file move_arm_utils.h.

Definition at line 911 of file move_arm_utils.h.

Definition at line 920 of file move_arm_utils.h.

Definition at line 918 of file move_arm_utils.h.

Definition at line 919 of file move_arm_utils.h.

Definition at line 915 of file move_arm_utils.h.

Definition at line 910 of file move_arm_utils.h.

Definition at line 914 of file move_arm_utils.h.

Definition at line 921 of file move_arm_utils.h.

This counter is exhausted when the trajectory's color has changed.

Definition at line 938 of file move_arm_utils.h.

Definition at line 932 of file move_arm_utils.h.

Definition at line 929 of file move_arm_utils.h.

Definition at line 912 of file move_arm_utils.h.

Definition at line 923 of file move_arm_utils.h.

Definition at line 934 of file move_arm_utils.h.

trajectory_msgs::JointTrajectory planning_scene_utils::TrajectoryData::trajectory_ [protected]

Definition at line 916 of file move_arm_utils.h.

Definition at line 926 of file move_arm_utils.h.

trajectory_msgs::JointTrajectory planning_scene_utils::TrajectoryData::trajectory_error_ [protected]

Definition at line 917 of file move_arm_utils.h.

Corresponds to the planning, filtering, or execution outcome of the trajectory.

Definition at line 941 of file move_arm_utils.h.

Definition at line 933 of file move_arm_utils.h.


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


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