#include "planner_modules_pr2/putdown_modules.h"
#include "planner_modules_pr2/module_param_cache.h"
#include "planner_modules_pr2/tidyup_planning_scene_updater.h"
#include "tidyup_utils/planning_scene_interface.h"
#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <map>
#include <set>
#include <utility>
#include <sys/times.h>
#include <arm_navigation_msgs/ArmNavigationErrorCodes.h>
#include <arm_navigation_msgs/convert_messages.h>
#include <tidyup_msgs/GetPutdownPose.h>
#include <sstream>
#include "tidyup_utils/stringutil.h"

Include dependency graph for putdown_modules.cpp:

Functions
bool	callFindPutdownPoseService (tidyup_msgs::GetPutdownPose &srv)
	Retrieve a response with putdownPoses from the service.
double	canPutdown (const ParameterList &parameterList, predicateCallbackType predicateCallback, numericalFluentCallbackType numericalFluentCallback, int relaxed)
string	createCacheKey (const string &putdownObject, const string &arm, const string &staticObject, const map< string, geometry_msgs::Pose > &movableObjects, const map< string, string > &objectsOnStatic)
bool	findPutdownPose (const ParameterList &parameterList, predicateCallbackType predicateCallback, numericalFluentCallbackType numericalFluentCallback, geometry_msgs::Pose &putdown_pose)
void	putdown_init (int argc, char **argv)
bool	readPoseFromString (const string cacheValue, geometry_msgs::Pose &pose)
int	updatePutdownPose (const ParameterList &parameterList, predicateCallbackType predicateCallback, numericalFluentCallbackType numericalFluentCallback, std::vector< double > &writtenVars)
	VERIFY_APPLYEFFECT_DEF (updatePutdownPose)
	VERIFY_CONDITIONCHECKER_DEF (canPutdown)
string	writePoseToString (const geometry_msgs::Pose &pose)
Variables
geometry_msgs::Pose	defaultAttachPose
ros::ServiceClient	g_GetPutdownPose
ros::NodeHandle *	g_NodeHandle = NULL
string	g_WorldFrame
	Plan requests are issued using this frame - so the poses from the planner are given in this frame (e.g. map)
string	logName
ModuleParamCacheString	paramCache
string	separator = " "

Function Documentation

bool callFindPutdownPoseService ( tidyup_msgs::GetPutdownPose & srv )

Retrieve a response with putdownPoses from the service.

Returns:: true on success.

Definition at line 80 of file putdown_modules.cpp.

double canPutdown	(	const ParameterList &	parameterList,
		predicateCallbackType	predicateCallback,
		numericalFluentCallbackType	numericalFluentCallback,
		int	relaxed
	)

Definition at line 280 of file putdown_modules.cpp.

string createCacheKey	(	const string &	putdownObject,
		const string &	arm,
		const string &	staticObject,
		const map< string, geometry_msgs::Pose > &	movableObjects,
		const map< string, string > &	objectsOnStatic
	)

Definition at line 159 of file putdown_modules.cpp.

bool findPutdownPose	(	const ParameterList &	parameterList,
		predicateCallbackType	predicateCallback,
		numericalFluentCallbackType	numericalFluentCallback,
		geometry_msgs::Pose &	putdown_pose
	)

Definition at line 184 of file putdown_modules.cpp.

void putdown_init	(	int	argc,
		char **	argv
	)

Definition at line 47 of file putdown_modules.cpp.

bool readPoseFromString	(	const string	cacheValue,
		geometry_msgs::Pose &	pose
	)

Definition at line 137 of file putdown_modules.cpp.

int updatePutdownPose	(	const ParameterList &	parameterList,
		predicateCallbackType	predicateCallback,
		numericalFluentCallbackType	numericalFluentCallback,
		std::vector< double > &	writtenVars
	)