#include <robot_interaction.h>

Classes
struct	EndEffector
	Representation of an interaction via an end-effector. More...
struct	Generic
	Representation of a generic interaction. Displays one interactive marker. More...
class	InteractionHandler
struct	Joint
	Representation of an interaction via a joint. More...
Public Types
enum	EndEffectorInteractionStyle { EEF_POSITION_ARROWS = 1, EEF_ORIENTATION_CIRCLES = 2, EEF_POSITION_SPHERE = 4, EEF_ORIENTATION_SPHERE = 8, EEF_POSITION_EEF = 16, EEF_ORIENTATION_EEF = 32, EEF_FIXED = 64, EEF_POSITION, EEF_ORIENTATION, EEF_6DOF, EEF_6DOF_SPHERE, EEF_POSITION_NOSPHERE, EEF_ORIENTATION_NOSPHERE, EEF_6DOF_NOSPHERE }
	The different types of interaction that can be constructed for an end effector. More...
typedef boost::function< void(InteractionHandler *, bool)	InteractionHandlerCallbackFn )
typedef boost::shared_ptr < const InteractionHandler >	InteractionHandlerConstPtr
typedef boost::shared_ptr < InteractionHandler >	InteractionHandlerPtr
typedef boost::function< bool(const robot_state::RobotState &, visualization_msgs::InteractiveMarker &)>	InteractiveMarkerConstructorFn
typedef boost::function< bool(const robot_state::RobotState &, geometry_msgs::Pose &)>	InteractiveMarkerUpdateFn
typedef boost::function< bool(robot_state::RobotState &, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &)>	ProcessFeedbackFn
Public Member Functions
void	addActiveComponent (const InteractiveMarkerConstructorFn &construct, const ProcessFeedbackFn &process, const InteractiveMarkerUpdateFn &update=InteractiveMarkerUpdateFn(), const std::string &name="")
void	addInteractiveMarkers (const InteractionHandlerPtr &handler, const double marker_scale=0.0)
void	clear ()
void	clearInteractiveMarkers ()
void	decideActiveComponents (const std::string &group, EndEffectorInteractionStyle style=EEF_6DOF)
void	decideActiveEndEffectors (const std::string &group, EndEffectorInteractionStyle style=EEF_6DOF)
	called by decideActiveComponents(); add markers for end effectors
void	decideActiveJoints (const std::string &group)
	called by decideActiveComponents(); add markers for planar and floating joints
const std::vector< EndEffector > &	getActiveEndEffectors () const
const std::vector< Joint > &	getActiveJoints () const
const std::string &	getServerTopic (void) const
void	publishInteractiveMarkers ()
	RobotInteraction (const robot_model::RobotModelConstPtr &kmodel, const std::string &ns="")
bool	showingMarkers (const InteractionHandlerPtr &handler)
void	updateInteractiveMarkers (const InteractionHandlerPtr &handler)
virtual	~RobotInteraction ()
Static Public Member Functions
static bool	updateState (robot_state::RobotState &state, const EndEffector &eef, const geometry_msgs::Pose &pose, unsigned int attempts, double ik_timeout, const robot_state::StateValidityCallbackFn &validity_callback=robot_state::StateValidityCallbackFn(), const kinematics::KinematicsQueryOptions &kinematics_query_options=kinematics::KinematicsQueryOptions())
static bool	updateState (robot_state::RobotState &state, const Joint &vj, const geometry_msgs::Pose &pose)
Static Public Attributes
static const std::string	INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic"
	The topic name on which the internal Interactive Marker Server operates.
Private Member Functions
void	addEndEffectorMarkers (const InteractionHandlerPtr &handler, const EndEffector &eef, visualization_msgs::InteractiveMarker &im, bool position=true, bool orientation=true)
void	addEndEffectorMarkers (const InteractionHandlerPtr &handler, const EndEffector &eef, const geometry_msgs::Pose &offset, visualization_msgs::InteractiveMarker &im, bool position=true, bool orientation=true)
void	clearInteractiveMarkersUnsafe ()
double	computeGroupMarkerSize (const std::string &group)
void	computeMarkerPose (const InteractionHandlerPtr &handler, const EndEffector &eef, const robot_state::RobotState &robot_state, geometry_msgs::Pose &pose, geometry_msgs::Pose &control_to_eef_tf) const
void	processingThread ()
void	processInteractiveMarkerFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
Private Attributes
std::vector< EndEffector >	active_eef_
std::vector< Generic >	active_generic_
std::vector< Joint >	active_vj_
std::map< std::string, visualization_msgs::InteractiveMarkerFeedbackConstPtr >	feedback_map_
std::map< std::string, InteractionHandlerPtr >	handlers_
interactive_markers::InteractiveMarkerServer *	int_marker_server_
boost::mutex	marker_access_lock_
boost::condition_variable	new_feedback_condition_
boost::scoped_ptr< boost::thread >	processing_thread_
robot_model::RobotModelConstPtr	robot_model_
bool	run_processing_thread_
std::map< std::string, std::size_t >	shown_markers_
std::string	topic_

Detailed Description

Definition at line 61 of file robot_interaction.h.

Member Typedef Documentation

typedef boost::function<void(InteractionHandler*, bool) robot_interaction::RobotInteraction::InteractionHandlerCallbackFn)

This function is called by the InteractionHandler::handle* functions, when changes are made to the internal robot state the handler maintains. The handler passes its own pointer as argument to the callback, as well as a boolean flag that indicates wheher the error state changed -- whether updates to the robot state performed in the InteractionHandler::handle* functions have switched from failing to succeeding or the other way around.

Definition at line 162 of file robot_interaction.h.

typedef boost::shared_ptr<const InteractionHandler> robot_interaction::RobotInteraction::InteractionHandlerConstPtr

Definition at line 429 of file robot_interaction.h.

typedef boost::shared_ptr<InteractionHandler> robot_interaction::RobotInteraction::InteractionHandlerPtr

Definition at line 428 of file robot_interaction.h.

typedef boost::function<bool(const robot_state::RobotState&, visualization_msgs::InteractiveMarker&)> robot_interaction::RobotInteraction::InteractiveMarkerConstructorFn

When using generic markers, a means to construct the marker is needed: this callback. The callback should set up the passed in marker according to the passed in robot state. Return true on success. Return false on failure or if the marker should not be added and displayed.

Definition at line 141 of file robot_interaction.h.

typedef boost::function<bool(const robot_state::RobotState&, geometry_msgs::Pose&)> robot_interaction::RobotInteraction::InteractiveMarkerUpdateFn

When using generic markers, this callback is called when the robot state changes. Callback should calculate a new pose for the marker based on the passed in robot state. Return true if the pose was modified, false if no update is to be issued (pose is unchanged).

Definition at line 151 of file robot_interaction.h.

typedef boost::function<bool(robot_state::RobotState&, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &)> robot_interaction::RobotInteraction::ProcessFeedbackFn

When using generic markers, this callback is called when the interactive marker changes and sends feedback. Callback should update the robot state that was passed in according to the new position of the marker. Return true if the update was successful. Return false if the state was not successfully updated.

Definition at line 146 of file robot_interaction.h.

Member Enumeration Documentation

enum robot_interaction::RobotInteraction::EndEffectorInteractionStyle

The different types of interaction that can be constructed for an end effector.

Enumerator:

EEF_POSITION_ARROWS
EEF_ORIENTATION_CIRCLES
EEF_POSITION_SPHERE
EEF_ORIENTATION_SPHERE
EEF_POSITION_EEF
EEF_ORIENTATION_EEF
EEF_FIXED
EEF_POSITION
EEF_ORIENTATION
EEF_6DOF
EEF_6DOF_SPHERE
EEF_POSITION_NOSPHERE
EEF_ORIENTATION_NOSPHERE
EEF_6DOF_NOSPHERE

Definition at line 70 of file robot_interaction.h.

Constructor & Destructor Documentation

robot_interaction::RobotInteraction::RobotInteraction	(	const robot_model::RobotModelConstPtr &	kmodel,
		const std::string &	ns = `""`
	)

Definition at line 420 of file robot_interaction.cpp.

robot_interaction::RobotInteraction::~RobotInteraction ( ) [virtual]

Definition at line 431 of file robot_interaction.cpp.

Member Function Documentation

void robot_interaction::RobotInteraction::addActiveComponent	(	const InteractiveMarkerConstructorFn &	construct,
		const ProcessFeedbackFn &	process,
		const InteractiveMarkerUpdateFn &	update = `InteractiveMarkerUpdateFn()`,
		const std::string &	name = `""`
	)

Definition at line 449 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addEndEffectorMarkers	(	const InteractionHandlerPtr &	handler,
		const EndEffector &	eef,
		visualization_msgs::InteractiveMarker &	im,
		bool	position = `true`,
		bool	orientation = `true`
	)		`[private]`

Definition at line 681 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addEndEffectorMarkers	(	const InteractionHandlerPtr &	handler,
		const EndEffector &	eef,
		const geometry_msgs::Pose &	offset,
		visualization_msgs::InteractiveMarker &	im,
		bool	position = `true`,
		bool	orientation = `true`
	)		`[private]`

Definition at line 691 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addInteractiveMarkers	(	const InteractionHandlerPtr &	handler,
		const double	marker_scale = `0.0`
	)

Definition at line 759 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::clear ( void )

Definition at line 658 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::clearInteractiveMarkers ( )

Definition at line 668 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::clearInteractiveMarkersUnsafe ( ) [private]

Definition at line 674 of file robot_interaction.cpp.

double robot_interaction::RobotInteraction::computeGroupMarkerSize ( const std::string & group ) [private]

Definition at line 464 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::computeMarkerPose	(	const InteractionHandlerPtr &	handler,
		const EndEffector &	eef,
		const robot_state::RobotState &	robot_state,
		geometry_msgs::Pose &	pose,
		geometry_msgs::Pose &	control_to_eef_tf
	)		const `[private]`

Definition at line 865 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveComponents	(	const std::string &	group,
		EndEffectorInteractionStyle	style = `EEF_6DOF`
	)

Definition at line 441 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveEndEffectors	(	const std::string &	group,
		EndEffectorInteractionStyle	style = `EEF_6DOF`
	)

called by decideActiveComponents(); add markers for end effectors

Definition at line 577 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveJoints ( const std::string & group )

called by decideActiveComponents(); add markers for planar and floating joints

Definition at line 509 of file robot_interaction.cpp.

const std::vector<EndEffector>& robot_interaction::RobotInteraction::getActiveEndEffectors ( ) const [inline]

Definition at line 471 of file robot_interaction.h.

const std::vector<Joint>& robot_interaction::RobotInteraction::getActiveJoints ( ) const [inline]

Definition at line 476 of file robot_interaction.h.

const std::string& robot_interaction::RobotInteraction::getServerTopic ( void ) const [inline]

Definition at line 434 of file robot_interaction.h.

void robot_interaction::RobotInteraction::processingThread ( ) [private]

Definition at line 1010 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::processInteractiveMarkerFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [private]

Definition at line 988 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::publishInteractiveMarkers ( )

Definition at line 929 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::showingMarkers ( const InteractionHandlerPtr & handler )

Definition at line 935 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::updateInteractiveMarkers ( const InteractionHandlerPtr & handler )

Definition at line 895 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::updateState	(	robot_state::RobotState &	state,
		const EndEffector &	eef,
		const geometry_msgs::Pose &	pose,
		unsigned int	attempts,
		double	ik_timeout,
		const robot_state::StateValidityCallbackFn &	validity_callback = `robot_state::StateValidityCallbackFn()`,
		const kinematics::KinematicsQueryOptions &	kinematics_query_options = `kinematics::KinematicsQueryOptions()`
	)		`[static]`