A class for controlling the PR2 using interactive markers. More...

#include <marker_control.h>

Classes
struct	ControlState
	A struct to keep the state of the overall robot control. More...
struct	GripperState
	A struct to store the state of the gripper controls. More...
Public Member Functions
void	cancelBaseMovement ()
	Cancel any base movement.
void	fastUpdate ()
	For fast updates, like changes to control and mesh marker poses.
double	getJointPosition (std::string name, const arm_navigation_msgs::RobotState &robot_state)
	Finds the state of a given joint in the robot state.
void	initAllMarkers (bool apply_immediately=false)
	Re-initialize all interactive markers.
void	initControlMarkers ()
	Re-initialize only the control markers (like the gripper-dragging frame)
void	initMeshMarkers ()
	Re-initialize only the mesh markers.
	PR2MarkerControl ()
	Constructor.
void	slowUpdate ()
	Used for lower frequency state updates.
geometry_msgs::PoseStamped	toolToWrist (const geometry_msgs::PoseStamped &ps)
	Translate the tool pose to the wrist.
geometry_msgs::PoseStamped	wristToTool (const geometry_msgs::PoseStamped &ps)
	Translate the wrist pose to the tool frame.
virtual	~PR2MarkerControl ()
	Destructor.
Protected Member Functions
void	baseButtonCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	centerHeadCB ()
bool	checkStateValidity (std::string arm_name)
	Checks if the arm pose is currently in collision.
void	clearLocalCostmap ()
void	commandGripperPose (const geometry_msgs::PoseStamped &ps, int arm_id, bool use_offset)
void	dualGripperResetControlCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	dualGripperToggleControlCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	dualGripperToggleFixedCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	gripperButtonCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, std::string action)
	Turns the gripper controls on and off.
void	gripperClosureCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, const float &command)
void	gripperResetControlCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	gripperToggleControlCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	gripperToggleFixedCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	gripperToggleModeCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	inHandObjectLeftCallback (const sensor_msgs::PointCloud2ConstPtr &cloud)
void	inHandObjectRightCallback (const sensor_msgs::PointCloud2ConstPtr &cloud)
void	initMenus ()
void	moveArm (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, const std::string &position, bool planner)
void	moveArmThread (std::string arm_name, std::string position, bool collision, bool planner)
void	processBasePoseEstimate (const actionlib::SimpleClientGoalState &state, const pr2_object_manipulation_msgs::GetNavPoseResultConstPtr &result)
void	processGripperPoseFeedback (const pr2_object_manipulation_msgs::GetGripperPoseFeedbackConstPtr &result, const std::string &arm_name)
void	processGripperPoseResult (const actionlib::SimpleClientGoalState &state, const pr2_object_manipulation_msgs::GetGripperPoseResultConstPtr &result, const std::string &arm_name)
void	processNavGoal (const actionlib::SimpleClientGoalState &state, const pr2_object_manipulation_msgs::GetNavPoseResultConstPtr &result, const bool &collision_aware)
void	projectorMenuCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	publishAlignedOdom ()
void	refreshPosture (const std::string &arm_name)
void	requestBasePoseEstimate ()
void	requestGripperPose (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, int arm_id)
void	requestNavGoal (const bool &collision_aware)
void	sendLastNavGoal ()
	This is useful so we can bind it to a callback.
void	snapshotCB ()
void	startDualGrippers (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, bool active)
void	switchToCartesian ()
	Activates the cartesian controllers for the grippers.
void	switchToJoint ()
	Activates the joint controllers for the grippers.
void	targetPointMenuCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	torsoMenuCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	tuckArmsCB (bool tuck_left, bool tuck_right)
void	updateBase (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	updateDualGripper (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	updateGripper (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, int arm_id)
void	updateHeadGoal (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, int arm_id)
void	updatePosture (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, int arm_id)
void	updateTorso (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	upperArmButtonCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, int id)
Protected Attributes
tf::StampedTransform	alignedOdom_
boost::mutex	alignedOdomMutex_
boost::thread	alignedOdomThread_
bool	alignedOdomValid_
pr2_wrappers::BaseClient	base_client_
geometry_msgs::PoseStamped	base_goal_pose_
object_manipulator::ActionWrapper < pr2_object_manipulation_msgs::GetNavPoseAction >	base_pose_client_
	Client for getting a base pose.
double	cartesian_clip_angle_
double	cartesian_clip_distance_
object_manipulator::ServiceWrapper < arm_navigation_msgs::GetStateValidity >	check_state_validity_client_
	Client for service that checks state validity.
object_manipulator::ServiceWrapper < std_srvs::Empty >	collider_node_reset_srv_
ControlState	control_state_
interactive_markers::MenuHandler::EntryHandle	dual_gripper_edit_control_handle_
interactive_markers::MenuHandler::EntryHandle	dual_gripper_fixed_control_handle_
std::vector< tf::Transform >	dual_gripper_offsets_
interactive_markers::MenuHandler::EntryHandle	dual_gripper_reset_control_handle_
geometry_msgs::PoseStamped	dual_grippers_frame_
tf::Transform	dual_pose_offset_
interactive_markers::MenuHandler::EntryHandle	gripper_6dof_handle_
pr2_wrappers::GripperController	gripper_client_
double	gripper_control_angular_deadband_
double	gripper_control_linear_deadband_
interactive_markers::MenuHandler::EntryHandle	gripper_edit_control_handle_
interactive_markers::MenuHandler::EntryHandle	gripper_fixed_control_handle_
object_manipulator::ActionWrapper < pr2_object_manipulation_msgs::GetGripperPoseAction >	gripper_pose_client_
	Client for getting a gripper pose.
interactive_markers::MenuHandler::EntryHandle	gripper_reset_control_handle_
interactive_markers::MenuHandler::EntryHandle	gripper_view_facing_handle_
geometry_msgs::PoseStamped	head_goal_pose_
std::string	head_pointing_frame_
interactive_markers::MenuHandler::EntryHandle	head_target_handle_
bool	in_collision_l_
bool	in_collision_r_
int	interface_number_
	For HRI user study.
interactive_markers::MenuHandler::EntryHandle	joint_handle_
interactive_markers::MenuHandler::EntryHandle	jtranspose_handle_
std::string	l_gripper_type_
	What type of gripper we have.
std::string	manipulator_base_frame_
double	max_direct_nav_radius_
object_manipulator::MechanismInterface	mechanism_
interactive_markers::MenuHandler	menu_arms_
	Menu handles for the robot.
interactive_markers::MenuHandler	menu_base_
interactive_markers::MenuHandler	menu_dual_grippers_
interactive_markers::MenuHandler	menu_gripper_close_
interactive_markers::MenuHandler	menu_grippers_
interactive_markers::MenuHandler	menu_head_
interactive_markers::MenuHandler	menu_laser_
interactive_markers::MenuHandler	menu_torso_
std::string	move_base_node_name_
	Name of the move base node.
ros::NodeHandle	nh_
CloudHandler	object_cloud_left_
ros::Subscriber	object_cloud_left_sub_
	Subscribers for in-hand object clouds.
CloudHandler	object_cloud_right_
ros::Subscriber	object_cloud_right_sub_
boost::mutex	planner_lock_
ros::NodeHandle	pnh_
std::vector< tf::Transform >	pose_offset_
interactive_markers::MenuHandler::EntryHandle	posture_handle_
interactive_markers::MenuHandler::EntryHandle	projector_handle_
std::string	r_gripper_type_
interactive_markers::InteractiveMarkerServer	server_
ros::Timer	slow_sync_timer_
CloudHandler	snapshot_client_
ros::Timer	spin_timer_
boost::shared_ptr< boost::thread >	sys_thread_
int	task_number_
	For HRI user study.
tf::TransformBroadcaster	tfb_
tf::TransformListener	tfl_
geometry_msgs::Pose	tool_frame_offset_
pr2_wrappers::TorsoClient	torso_client_
pr2_wrappers::TuckArmsClient	tuck_arms_client_
interactive_markers::MenuHandler::EntryHandle	tuck_handle_
	Menu Entry handles for some important ones.
double	update_period_
bool	use_left_arm_
bool	use_right_arm_
bool	use_state_validator_
bool	using_3d_nav_
	Are we using 3D navigation?

Detailed Description

A class for controlling the PR2 using interactive markers.

Definition at line 73 of file marker_control.h.

Constructor & Destructor Documentation

PR2MarkerControl::PR2MarkerControl ( )

Constructor.

Definition at line 121 of file marker_control.cpp.

virtual PR2MarkerControl::~PR2MarkerControl ( ) [inline, virtual]

Destructor.

Definition at line 81 of file marker_control.h.

Member Function Documentation

void PR2MarkerControl::baseButtonCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [inline, protected]

Definition at line 167 of file marker_control.h.

void PR2MarkerControl::cancelBaseMovement ( ) [inline]

Cancel any base movement.

Definition at line 120 of file marker_control.h.

void PR2MarkerControl::centerHeadCB ( ) [inline, protected]

Definition at line 192 of file marker_control.h.

bool PR2MarkerControl::checkStateValidity ( std::string arm_name ) [protected]

Checks if the arm pose is currently in collision.

Definition at line 980 of file marker_control.cpp.

void PR2MarkerControl::clearLocalCostmap ( ) [protected]

Definition at line 1915 of file marker_control.cpp.

void PR2MarkerControl::commandGripperPose	(	const geometry_msgs::PoseStamped &	ps,
		int	arm_id,
		bool	use_offset
	)		`[protected]`

Definition at line 1227 of file marker_control.cpp.

void PR2MarkerControl::dualGripperResetControlCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1171 of file marker_control.cpp.

void PR2MarkerControl::dualGripperToggleControlCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1141 of file marker_control.cpp.

void PR2MarkerControl::dualGripperToggleFixedCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1115 of file marker_control.cpp.

void PR2MarkerControl::fastUpdate ( )

For fast updates, like changes to control and mesh marker poses.

Definition at line 225 of file marker_control.cpp.

double PR2MarkerControl::getJointPosition	(	std::string	name,
		const arm_navigation_msgs::RobotState &	robot_state
	)

Finds the state of a given joint in the robot state.

Definition at line 373 of file marker_control.cpp.

void PR2MarkerControl::gripperButtonCB	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		std::string	action
	)		`[protected]`

Turns the gripper controls on and off.

Turns the gripper controls on and off or toggles them.

Definition at line 1410 of file marker_control.cpp.

void PR2MarkerControl::gripperClosureCB	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		const float &	command
	)		`[protected]`

Definition at line 1596 of file marker_control.cpp.

void PR2MarkerControl::gripperResetControlCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1155 of file marker_control.cpp.

void PR2MarkerControl::gripperToggleControlCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1127 of file marker_control.cpp.

void PR2MarkerControl::gripperToggleFixedCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1101 of file marker_control.cpp.

void PR2MarkerControl::gripperToggleModeCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1077 of file marker_control.cpp.

void PR2MarkerControl::inHandObjectLeftCallback ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [protected]

Definition at line 1927 of file marker_control.cpp.

void PR2MarkerControl::inHandObjectRightCallback ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [protected]

Definition at line 1921 of file marker_control.cpp.

void PR2MarkerControl::initAllMarkers ( bool apply_immediately = false ) [inline]

Re-initialize all interactive markers.

Definition at line 101 of file marker_control.h.

void PR2MarkerControl::initControlMarkers ( )

Re-initialize only the control markers (like the gripper-dragging frame)

Definition at line 388 of file marker_control.cpp.

void PR2MarkerControl::initMenus ( ) [protected]

Definition at line 1933 of file marker_control.cpp.

void PR2MarkerControl::initMeshMarkers ( )

Re-initialize only the mesh markers.

Definition at line 704 of file marker_control.cpp.

void PR2MarkerControl::moveArm	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		const std::string &	position,
		bool	planner
	)		`[protected]`

Definition at line 1668 of file marker_control.cpp.

void PR2MarkerControl::moveArmThread	(	std::string	arm_name,
		std::string	position,
		bool	collision,
		bool	planner
	)		`[protected]`

Definition at line 1686 of file marker_control.cpp.

void PR2MarkerControl::processBasePoseEstimate	(	const actionlib::SimpleClientGoalState &	state,
		const pr2_object_manipulation_msgs::GetNavPoseResultConstPtr &	result
	)		`[protected]`

Definition at line 1874 of file marker_control.cpp.

void PR2MarkerControl::processGripperPoseFeedback	(	const pr2_object_manipulation_msgs::GetGripperPoseFeedbackConstPtr &	result,
		const std::string &	arm_name
	)		`[protected]`

Definition at line 1648 of file marker_control.cpp.

void PR2MarkerControl::processGripperPoseResult	(	const actionlib::SimpleClientGoalState &	state,
		const pr2_object_manipulation_msgs::GetGripperPoseResultConstPtr &	result,
		const std::string &	arm_name
	)		`[protected]`

Definition at line 1658 of file marker_control.cpp.

void PR2MarkerControl::processNavGoal	(	const actionlib::SimpleClientGoalState &	state,
		const pr2_object_manipulation_msgs::GetNavPoseResultConstPtr &	result,
		const bool &	collision_aware
	)		`[protected]`

Definition at line 1850 of file marker_control.cpp.

void PR2MarkerControl::projectorMenuCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1045 of file marker_control.cpp.

void PR2MarkerControl::publishAlignedOdom ( ) [inline, protected]

Definition at line 402 of file marker_control.h.

void PR2MarkerControl::refreshPosture ( const std::string & arm_name ) [inline, protected]

Definition at line 173 of file marker_control.h.

void PR2MarkerControl::requestBasePoseEstimate ( ) [protected]

Definition at line 1866 of file marker_control.cpp.

void PR2MarkerControl::requestGripperPose	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		int	arm_id
	)		`[protected]`

Definition at line 1615 of file marker_control.cpp.

void PR2MarkerControl::requestNavGoal ( const bool & collision_aware ) [protected]

Definition at line 1796 of file marker_control.cpp.

void PR2MarkerControl::sendLastNavGoal ( ) [protected]

This is useful so we can bind it to a callback.

Definition at line 1898 of file marker_control.cpp.

void PR2MarkerControl::slowUpdate ( )

Used for lower frequency state updates.

Definition at line 274 of file marker_control.cpp.

void PR2MarkerControl::snapshotCB ( ) [inline, protected]

Definition at line 140 of file marker_control.h.

void PR2MarkerControl::startDualGrippers	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		bool	active
	)		`[protected]`

Definition at line 1179 of file marker_control.cpp.

void PR2MarkerControl::switchToCartesian ( ) [protected]

Activates the cartesian controllers for the grippers.

Definition at line 918 of file marker_control.cpp.

void PR2MarkerControl::switchToJoint ( ) [protected]

Activates the joint controllers for the grippers.

Definition at line 953 of file marker_control.cpp.

void PR2MarkerControl::targetPointMenuCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1032 of file marker_control.cpp.

geometry_msgs::PoseStamped PR2MarkerControl::toolToWrist ( const geometry_msgs::PoseStamped & ps )

Translate the tool pose to the wrist.

Translate the control pose to the wrist.

Definition at line 76 of file marker_control.cpp.

void PR2MarkerControl::torsoMenuCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1585 of file marker_control.cpp.

void PR2MarkerControl::tuckArmsCB	(	bool	tuck_left,
		bool	tuck_right
	)		`[inline, protected]`

Definition at line 180 of file marker_control.h.

void PR2MarkerControl::updateBase ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1543 of file marker_control.cpp.

void PR2MarkerControl::updateDualGripper ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1313 of file marker_control.cpp.

void PR2MarkerControl::updateGripper	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		int	arm_id
	)		`[protected]`

Definition at line 1261 of file marker_control.cpp.

void PR2MarkerControl::updateHeadGoal	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		int	arm_id
	)		`[protected]`

Definition at line 1006 of file marker_control.cpp.

void PR2MarkerControl::updatePosture	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		int	arm_id
	)		`[protected]`

Definition at line 1466 of file marker_control.cpp.

void PR2MarkerControl::updateTorso ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 1518 of file marker_control.cpp.

void PR2MarkerControl::upperArmButtonCB	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		int	id
	)		`[protected]`

Definition at line 1441 of file marker_control.cpp.

geometry_msgs::PoseStamped PR2MarkerControl::wristToTool ( const geometry_msgs::PoseStamped & ps )

Translate the wrist pose to the tool frame.

Translate to the control pose.

Definition at line 89 of file marker_control.cpp.

Member Data Documentation

tf::StampedTransform PR2MarkerControl::alignedOdom_ [protected]

Definition at line 396 of file marker_control.h.

boost::mutex PR2MarkerControl::alignedOdomMutex_ [protected]

Definition at line 395 of file marker_control.h.

boost::thread PR2MarkerControl::alignedOdomThread_ [protected]

Definition at line 394 of file marker_control.h.

bool PR2MarkerControl::alignedOdomValid_ [protected]

Definition at line 393 of file marker_control.h.

pr2_wrappers::BaseClient PR2MarkerControl::base_client_ [protected]

Definition at line 341 of file marker_control.h.

geometry_msgs::PoseStamped PR2MarkerControl::base_goal_pose_ [protected]

Definition at line 300 of file marker_control.h.

object_manipulator::ActionWrapper<pr2_object_manipulation_msgs::GetNavPoseAction> PR2MarkerControl::base_pose_client_ [protected]

Client for getting a base pose.

Definition at line 374 of file marker_control.h.

double PR2MarkerControl::cartesian_clip_angle_ [protected]

Definition at line 354 of file marker_control.h.

double PR2MarkerControl::cartesian_clip_distance_ [protected]

Definition at line 353 of file marker_control.h.

object_manipulator::ServiceWrapper<arm_navigation_msgs::GetStateValidity> PR2MarkerControl::check_state_validity_client_ [protected]

Client for service that checks state validity.

Definition at line 363 of file marker_control.h.

object_manipulator::ServiceWrapper<std_srvs::Empty> PR2MarkerControl::collider_node_reset_srv_ [protected]

Definition at line 364 of file marker_control.h.

ControlState PR2MarkerControl::control_state_ [protected]

Definition at line 338 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::dual_gripper_edit_control_handle_ [protected]

Definition at line 283 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::dual_gripper_fixed_control_handle_ [protected]

Definition at line 281 of file marker_control.h.

std::vector<tf::Transform> PR2MarkerControl::dual_gripper_offsets_ [protected]

Definition at line 296 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::dual_gripper_reset_control_handle_ [protected]

Definition at line 285 of file marker_control.h.

geometry_msgs::PoseStamped PR2MarkerControl::dual_grippers_frame_ [protected]

Definition at line 295 of file marker_control.h.

tf::Transform PR2MarkerControl::dual_pose_offset_ [protected]

Definition at line 291 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::gripper_6dof_handle_ [protected]

Definition at line 279 of file marker_control.h.

pr2_wrappers::GripperController PR2MarkerControl::gripper_client_ [protected]

Definition at line 339 of file marker_control.h.

double PR2MarkerControl::gripper_control_angular_deadband_ [protected]

Definition at line 351 of file marker_control.h.

double PR2MarkerControl::gripper_control_linear_deadband_ [protected]

Definition at line 351 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::gripper_edit_control_handle_ [protected]

Definition at line 282 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::gripper_fixed_control_handle_ [protected]

Definition at line 280 of file marker_control.h.

object_manipulator::ActionWrapper<pr2_object_manipulation_msgs::GetGripperPoseAction> PR2MarkerControl::gripper_pose_client_ [protected]

Client for getting a gripper pose.

Definition at line 377 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::gripper_reset_control_handle_ [protected]

Definition at line 284 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::gripper_view_facing_handle_ [protected]

Definition at line 278 of file marker_control.h.

geometry_msgs::PoseStamped PR2MarkerControl::head_goal_pose_ [protected]

Definition at line 293 of file marker_control.h.

std::string PR2MarkerControl::head_pointing_frame_ [protected]

Definition at line 384 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::head_target_handle_ [protected]

Definition at line 277 of file marker_control.h.

bool PR2MarkerControl::in_collision_l_ [protected]

Definition at line 358 of file marker_control.h.

bool PR2MarkerControl::in_collision_r_ [protected]

Definition at line 358 of file marker_control.h.

int PR2MarkerControl::interface_number_ [protected]

For HRI user study.

Definition at line 380 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::joint_handle_ [protected]

Definition at line 273 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::jtranspose_handle_ [protected]

Definition at line 274 of file marker_control.h.

std::string PR2MarkerControl::l_gripper_type_ [protected]

What type of gripper we have.

For now, "pr2" or "lcg"

Definition at line 400 of file marker_control.h.

std::string PR2MarkerControl::manipulator_base_frame_ [protected]

Definition at line 298 of file marker_control.h.

double PR2MarkerControl::max_direct_nav_radius_ [protected]

Definition at line 356 of file marker_control.h.

object_manipulator::MechanismInterface PR2MarkerControl::mechanism_ [protected]

Definition at line 346 of file marker_control.h.

interactive_markers::MenuHandler PR2MarkerControl::menu_arms_ [protected]

Menu handles for the robot.

Definition at line 262 of file marker_control.h.

interactive_markers::MenuHandler PR2MarkerControl::menu_base_ [protected]

Definition at line 269 of file marker_control.h.

interactive_markers::MenuHandler PR2MarkerControl::menu_dual_grippers_ [protected]

Definition at line 267 of file marker_control.h.

interactive_markers::MenuHandler PR2MarkerControl::menu_gripper_close_ [protected]

Definition at line 268 of file marker_control.h.

interactive_markers::MenuHandler PR2MarkerControl::menu_grippers_ [protected]

Definition at line 266 of file marker_control.h.

interactive_markers::MenuHandler PR2MarkerControl::menu_head_ [protected]

Definition at line 263 of file marker_control.h.

interactive_markers::MenuHandler PR2MarkerControl::menu_laser_ [protected]

Definition at line 265 of file marker_control.h.

interactive_markers::MenuHandler PR2MarkerControl::menu_torso_ [protected]

Definition at line 264 of file marker_control.h.

std::string PR2MarkerControl::move_base_node_name_ [protected]

Name of the move base node.

Definition at line 387 of file marker_control.h.

ros::NodeHandle PR2MarkerControl::nh_ [protected]

Definition at line 254 of file marker_control.h.

CloudHandler PR2MarkerControl::object_cloud_left_ [protected]

Definition at line 366 of file marker_control.h.

ros::Subscriber PR2MarkerControl::object_cloud_left_sub_ [protected]

Subscribers for in-hand object clouds.

Definition at line 370 of file marker_control.h.

CloudHandler PR2MarkerControl::object_cloud_right_ [protected]

Definition at line 367 of file marker_control.h.

ros::Subscriber PR2MarkerControl::object_cloud_right_sub_ [protected]

Definition at line 371 of file marker_control.h.

boost::mutex PR2MarkerControl::planner_lock_ [protected]

Definition at line 344 of file marker_control.h.

ros::NodeHandle PR2MarkerControl::pnh_ [protected]

Definition at line 255 of file marker_control.h.

std::vector<tf::Transform> PR2MarkerControl::pose_offset_ [protected]

Definition at line 290 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::posture_handle_ [protected]

Definition at line 275 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::projector_handle_ [protected]

Definition at line 276 of file marker_control.h.

std::string PR2MarkerControl::r_gripper_type_ [protected]

Definition at line 400 of file marker_control.h.

interactive_markers::InteractiveMarkerServer PR2MarkerControl::server_ [protected]

Definition at line 258 of file marker_control.h.

ros::Timer PR2MarkerControl::slow_sync_timer_ [protected]

Definition at line 257 of file marker_control.h.

CloudHandler PR2MarkerControl::snapshot_client_ [protected]

Definition at line 365 of file marker_control.h.

ros::Timer PR2MarkerControl::spin_timer_ [protected]

Definition at line 256 of file marker_control.h.

boost::shared_ptr< boost::thread > PR2MarkerControl::sys_thread_ [protected]

Definition at line 360 of file marker_control.h.

int PR2MarkerControl::task_number_ [protected]

For HRI user study.

Definition at line 382 of file marker_control.h.

tf::TransformBroadcaster PR2MarkerControl::tfb_ [protected]

Definition at line 288 of file marker_control.h.

tf::TransformListener PR2MarkerControl::tfl_ [protected]

Definition at line 287 of file marker_control.h.

geometry_msgs::Pose PR2MarkerControl::tool_frame_offset_ [protected]

Definition at line 292 of file marker_control.h.

pr2_wrappers::TorsoClient PR2MarkerControl::torso_client_ [protected]

Definition at line 340 of file marker_control.h.

pr2_wrappers::TuckArmsClient PR2MarkerControl::tuck_arms_client_ [protected]

Definition at line 342 of file marker_control.h.

interactive_markers::MenuHandler::EntryHandle PR2MarkerControl::tuck_handle_ [protected]

Menu Entry handles for some important ones.

Definition at line 272 of file marker_control.h.

double PR2MarkerControl::update_period_ [protected]

Definition at line 352 of file marker_control.h.

bool PR2MarkerControl::use_left_arm_ [protected]

Definition at line 350 of file marker_control.h.

bool PR2MarkerControl::use_right_arm_ [protected]

Definition at line 349 of file marker_control.h.

bool PR2MarkerControl::use_state_validator_ [protected]

Definition at line 348 of file marker_control.h.

bool PR2MarkerControl::using_3d_nav_ [protected]

Are we using 3D navigation?

Definition at line 390 of file marker_control.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation