#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <boost/assign/list_of.hpp>
#include <boost/assign/list_inserter.hpp>
#include <ros/ros.h>
#include <arm_navigation_msgs/GetPlanningScene.h>
#include <arm_navigation_msgs/SetPlanningSceneDiff.h>
#include <planning_environment/models/collision_models.h>
#include <planning_environment/models/model_utils.h>
#include <actionlib/client/simple_action_client.h>
#include <arm_navigation_msgs/MoveArmAction.h>
#include <arm_navigation_msgs/SimplePoseConstraint.h>
#include <arm_navigation_msgs/FilterJointTrajectoryWithConstraints.h>
#include <nav_msgs/Path.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/PoseArray.h>
#include <boost/tuple/tuple.hpp>
#include <mtconnect_cnc_robot_example/utilities/utilities.h>
#include <mtconnect_cnc_robot_example/move_arm_action_clients/MoveArmActionClient.h>
#include <mtconnect_cnc_robot_example/Command.h>
#include <boost/enable_shared_from_this.hpp>
#include <industrial_msgs/RobotStatus.h>
#include <mtconnect_msgs/CloseChuckAction.h>
#include <mtconnect_msgs/OpenChuckAction.h>
#include <mtconnect_msgs/CloseDoorAction.h>
#include <mtconnect_msgs/OpenDoorAction.h>
#include <mtconnect_msgs/MaterialLoadAction.h>
#include <mtconnect_msgs/MaterialUnloadAction.h>
#include <object_manipulation_msgs/PickupAction.h>
#include <object_manipulation_msgs/PlaceAction.h>
#include <mtconnect_cnc_robot_example/state_machine/state_machine_interface.h>
#include <object_manipulation_msgs/GraspHandPostureExecutionAction.h>
#include <actionlib/server/simple_action_server.h>
#include <mtconnect_msgs/RobotSpindle.h>
#include <mtconnect_msgs/RobotStates.h>
#include <mtconnect_msgs/SetMTConnectState.h>
#include <control_msgs/FollowJointTrajectoryAction.h>

Include dependency graph for state_machine.h:

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Classes
class	mtconnect_cnc_robot_example::state_machine::StateMachine
Namespaces
namespace	mtconnect_cnc_robot_example
namespace	mtconnect_cnc_robot_example::state_machine
namespace	mtconnect_cnc_robot_example::state_machine::tasks
Typedefs
typedef actionlib::SimpleActionClient < mtconnect_msgs::CloseChuckAction >	CncCloseChuckClient
typedef boost::shared_ptr < CncCloseChuckClient >	CncCloseChuckClientPtr
typedef actionlib::SimpleActionClient < mtconnect_msgs::CloseDoorAction >	CncCloseDoorClient
typedef boost::shared_ptr < CncCloseDoorClient >	CncCloseDoorClientPtr
typedef actionlib::SimpleActionClient < mtconnect_msgs::OpenChuckAction >	CncOpenChuckClient
typedef boost::shared_ptr < CncOpenChuckClient >	CncOpenChuckClientPtr
typedef actionlib::SimpleActionClient < mtconnect_msgs::OpenDoorAction >	CncOpenDoorClient
typedef boost::shared_ptr < CncOpenDoorClient >	CncOpenDoorClientPtr
typedef actionlib::SimpleActionClient < object_manipulation_msgs::GraspHandPostureExecutionAction >	GraspActionClient
typedef boost::shared_ptr < GraspActionClient >	GraspActionClientPtr
typedef actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	JointTractoryClient
typedef boost::shared_ptr < JointTractoryClient >	JointTractoryClientPtr
typedef std::vector< int >	MaterialHandlingSequence
typedef actionlib::SimpleActionServer < mtconnect_msgs::MaterialLoadAction >	MaterialLoadServer
typedef boost::shared_ptr < MaterialLoadServer >	MaterialLoadServerPtr
typedef actionlib::SimpleActionServer < mtconnect_msgs::MaterialUnloadAction >	MaterialUnloadServer
typedef boost::shared_ptr < MaterialUnloadServer >	MaterialUnloadServerPtr
typedef actionlib::SimpleActionClient < arm_navigation_msgs::MoveArmAction >	MoveArmClient
typedef boost::shared_ptr < MoveArmClient >	MoveArmClientPtr
typedef actionlib::SimpleActionClient < object_manipulation_msgs::PickupAction >	MovePickupClient
typedef boost::shared_ptr < MovePickupClient >	MovePickupClientPtr
typedef actionlib::SimpleActionClient < object_manipulation_msgs::PlaceAction >	MovePlaceClient
typedef boost::shared_ptr < MovePlaceClient >	MovePlaceClientPtr
Enumerations
enum	mtconnect_cnc_robot_example::state_machine::tasks::Task { mtconnect_cnc_robot_example::state_machine::tasks::NO_TASK = int(0), mtconnect_cnc_robot_example::state_machine::tasks::ROBOT_PLACE_WORKPIECE, mtconnect_cnc_robot_example::state_machine::tasks::ROBOT_PICKUP_MATERIAL, mtconnect_cnc_robot_example::state_machine::tasks::ROBOT_APPROACH_CNC, mtconnect_cnc_robot_example::state_machine::tasks::ROBOT_ENTER_CNC, mtconnect_cnc_robot_example::state_machine::tasks::ROBOT_MOVE_TO_CHUCK, mtconnect_cnc_robot_example::state_machine::tasks::ROBOT_RETREAT_FROM_CHUCK, mtconnect_cnc_robot_example::state_machine::tasks::ROBOT_EXIT_CNC, mtconnect_cnc_robot_example::state_machine::tasks::ROBOT_MOVE_HOME, mtconnect_cnc_robot_example::state_machine::tasks::ROBOT_MOVE_WAIT, mtconnect_cnc_robot_example::state_machine::tasks::ROBOT_CARTESIAN_MOVE, mtconnect_cnc_robot_example::state_machine::tasks::CNC_OPEN_DOOR, mtconnect_cnc_robot_example::state_machine::tasks::CNC_CLOSE_DOOR, mtconnect_cnc_robot_example::state_machine::tasks::CNC_OPEN_CHUCK, mtconnect_cnc_robot_example::state_machine::tasks::CNC_CLOSE_CHUCK, mtconnect_cnc_robot_example::state_machine::tasks::VISE_OPEN, mtconnect_cnc_robot_example::state_machine::tasks::VISE_CLOSE, mtconnect_cnc_robot_example::state_machine::tasks::GRIPPER_OPEN, mtconnect_cnc_robot_example::state_machine::tasks::GRIPPER_CLOSE, mtconnect_cnc_robot_example::state_machine::tasks::MATERIAL_LOAD_START, mtconnect_cnc_robot_example::state_machine::tasks::MATERIAL_LOAD_END, mtconnect_cnc_robot_example::state_machine::tasks::MATERIAL_UNLOAD_START, mtconnect_cnc_robot_example::state_machine::tasks::MATERIAL_UNLOAD_END, mtconnect_cnc_robot_example::state_machine::tasks::TEST_TASK_START, mtconnect_cnc_robot_example::state_machine::tasks::TEST_TASK_END, mtconnect_cnc_robot_example::state_machine::tasks::JM_HOME_TO_READY, mtconnect_cnc_robot_example::state_machine::tasks::JM_READY_TO_APPROACH, mtconnect_cnc_robot_example::state_machine::tasks::JM_APPROACH_TO_PICK, mtconnect_cnc_robot_example::state_machine::tasks::JM_PICK_TO_DOOR, mtconnect_cnc_robot_example::state_machine::tasks::JM_DOOR_TO_CHUCK, mtconnect_cnc_robot_example::state_machine::tasks::JM_CHUCK_TO_READY, mtconnect_cnc_robot_example::state_machine::tasks::JM_READY_TO_DOOR, mtconnect_cnc_robot_example::state_machine::tasks::JM_PICK_TO_HOME }
Variables
static std::map< int, std::string >	mtconnect_cnc_robot_example::state_machine::tasks::TASK_MAP

Typedef Documentation

typedef actionlib::SimpleActionClient<mtconnect_msgs::CloseChuckAction> CncCloseChuckClient

Definition at line 68 of file state_machine.h.

typedef boost::shared_ptr<CncCloseChuckClient> CncCloseChuckClientPtr

Definition at line 79 of file state_machine.h.

typedef actionlib::SimpleActionClient<mtconnect_msgs::CloseDoorAction> CncCloseDoorClient

Definition at line 66 of file state_machine.h.

typedef boost::shared_ptr<CncCloseDoorClient> CncCloseDoorClientPtr

Definition at line 77 of file state_machine.h.

typedef actionlib::SimpleActionClient<mtconnect_msgs::OpenChuckAction> CncOpenChuckClient

Definition at line 67 of file state_machine.h.

typedef boost::shared_ptr<CncOpenChuckClient> CncOpenChuckClientPtr

Definition at line 78 of file state_machine.h.

typedef actionlib::SimpleActionClient<mtconnect_msgs::OpenDoorAction> CncOpenDoorClient

Definition at line 65 of file state_machine.h.

typedef boost::shared_ptr<CncOpenDoorClient> CncOpenDoorClientPtr

Definition at line 76 of file state_machine.h.

typedef actionlib::SimpleActionClient<object_manipulation_msgs::GraspHandPostureExecutionAction> GraspActionClient

Definition at line 71 of file state_machine.h.

typedef boost::shared_ptr<GraspActionClient> GraspActionClientPtr

Definition at line 82 of file state_machine.h.

typedef actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> JointTractoryClient

Definition at line 72 of file state_machine.h.

typedef boost::shared_ptr<JointTractoryClient> JointTractoryClientPtr

Definition at line 83 of file state_machine.h.

typedef std::vector<int> MaterialHandlingSequence

Definition at line 84 of file state_machine.h.

typedef actionlib::SimpleActionServer<mtconnect_msgs::MaterialLoadAction> MaterialLoadServer

Definition at line 69 of file state_machine.h.

typedef boost::shared_ptr<MaterialLoadServer> MaterialLoadServerPtr

Definition at line 80 of file state_machine.h.

typedef actionlib::SimpleActionServer<mtconnect_msgs::MaterialUnloadAction> MaterialUnloadServer

Definition at line 70 of file state_machine.h.

typedef boost::shared_ptr<MaterialUnloadServer> MaterialUnloadServerPtr

Definition at line 81 of file state_machine.h.

typedef actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> MoveArmClient

Definition at line 62 of file state_machine.h.

typedef boost::shared_ptr<MoveArmClient> MoveArmClientPtr

Definition at line 73 of file state_machine.h.

typedef actionlib::SimpleActionClient<object_manipulation_msgs::PickupAction> MovePickupClient

Definition at line 63 of file state_machine.h.

typedef boost::shared_ptr<MovePickupClient> MovePickupClientPtr

Definition at line 74 of file state_machine.h.

typedef actionlib::SimpleActionClient<object_manipulation_msgs::PlaceAction> MovePlaceClient

Definition at line 64 of file state_machine.h.

typedef boost::shared_ptr<MovePlaceClient> MovePlaceClientPtr

Definition at line 75 of file state_machine.h.

Classes

Namespaces

Typedefs

Enumerations

Variables

Typedef Documentation