#include <plan_with_sensing.h>

Classes
class	DynamicReconfigureImpl
Public Member Functions
bool	computePlan (ExecutableMotionPlan &plan, const ExecutableMotionPlanComputationFn &motion_planner, unsigned int max_look_attempts, double max_safe_path_cost)
void	displayCostSources (bool flag)
double	getDiscardOverlappingCostSources () const
unsigned int	getMaxCostSources () const
unsigned int	getMaxLookAttempts () const
double	getMaxSafePathCost () const
const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	getTrajectoryExecutionManager () const
	PlanWithSensing (const trajectory_execution_manager::TrajectoryExecutionManagerPtr &trajectory_execution)
void	setBeforeLookCallback (const boost::function< void()> &callback)
void	setDiscardOverlappingCostSources (double value)
void	setMaxCostSources (unsigned int value)
void	setMaxLookAttempts (unsigned int attempts)
void	setMaxSafePathCost (double max_safe_path_cost)
	~PlanWithSensing ()
Private Member Functions
bool	lookAt (const std::set< collision_detection::CostSource > &cost_sources, const std::string &frame_id)
Private Attributes
boost::function< void()>	before_look_callback_
ros::Publisher	cost_sources_publisher_
unsigned int	default_max_look_attempts_
double	default_max_safe_path_cost_
double	discard_overlapping_cost_sources_
bool	display_cost_sources_
unsigned int	max_cost_sources_
ros::NodeHandle	node_handle_
DynamicReconfigureImpl *	reconfigure_impl_
moveit_sensor_manager::MoveItSensorManagerPtr	sensor_manager_
boost::scoped_ptr < pluginlib::ClassLoader < moveit_sensor_manager::MoveItSensorManager > >	sensor_manager_loader_
trajectory_execution_manager::TrajectoryExecutionManagerPtr	trajectory_execution_manager_

Detailed Description

Definition at line 51 of file plan_with_sensing.h.

Constructor & Destructor Documentation

plan_execution::PlanWithSensing::PlanWithSensing ( const trajectory_execution_manager::TrajectoryExecutionManagerPtr & trajectory_execution )

Definition at line 75 of file plan_with_sensing.cpp.

plan_execution::PlanWithSensing::~PlanWithSensing ( )

Definition at line 124 of file plan_with_sensing.cpp.

Member Function Documentation

bool plan_execution::PlanWithSensing::computePlan	(	ExecutableMotionPlan &	plan,
		const ExecutableMotionPlanComputationFn &	motion_planner,
		unsigned int	max_look_attempts,
		double	max_safe_path_cost
	)

Definition at line 140 of file plan_with_sensing.cpp.

void plan_execution::PlanWithSensing::displayCostSources ( bool flag )

Definition at line 129 of file plan_with_sensing.cpp.

double plan_execution::PlanWithSensing::getDiscardOverlappingCostSources ( ) const [inline]

Definition at line 95 of file plan_with_sensing.h.

unsigned int plan_execution::PlanWithSensing::getMaxCostSources ( ) const [inline]

Definition at line 85 of file plan_with_sensing.h.

unsigned int plan_execution::PlanWithSensing::getMaxLookAttempts ( ) const [inline]

Definition at line 80 of file plan_with_sensing.h.

double plan_execution::PlanWithSensing::getMaxSafePathCost ( ) const [inline]

Definition at line 65 of file plan_with_sensing.h.

const trajectory_execution_manager::TrajectoryExecutionManagerPtr& plan_execution::PlanWithSensing::getTrajectoryExecutionManager ( ) const [inline]

Definition at line 58 of file plan_with_sensing.h.

bool plan_execution::PlanWithSensing::lookAt	(	const std::set< collision_detection::CostSource > &	cost_sources,
		const std::string &	frame_id
	)		`[private]`