#include <robot_interaction.h>

Public Member Functions
void	clearError (void)
	Clear any error settings. This makes the markers appear as if the state is no longer invalid.
void	clearLastEndEffectorMarkerPose (const RobotInteraction::EndEffector &eef)
	Clear the last interactive_marker command pose for the given end-effector.
void	clearLastJointMarkerPose (const RobotInteraction::Joint &vj)
	Clear the last interactive_marker command pose for the given joint.
void	clearLastMarkerPoses ()
	Clear the last interactive_marker command poses for all end-effectors and joints.
void	clearMenuHandler ()
	Remove the menu handler for this interaction handler.
void	clearPoseOffset (const RobotInteraction::EndEffector &eef)
	Clear the interactive marker pose offset for the given end-effector.
void	clearPoseOffset (const RobotInteraction::Joint &vj)
	Clear the interactive marker pose offset for the given joint.
void	clearPoseOffsets ()
	Clear the pose offset for all end-effectors and virtual joints.
bool	getControlsVisible () const
unsigned int	getIKAttempts () const
double	getIKTimeout () const
const kinematics::KinematicsQueryOptions &	getKinematicsQueryOptions () const
bool	getLastEndEffectorMarkerPose (const RobotInteraction::EndEffector &eef, geometry_msgs::PoseStamped &pose)
	Get the last interactive_marker command pose for an end-effector.
bool	getLastJointMarkerPose (const RobotInteraction::Joint &vj, geometry_msgs::PoseStamped &pose)
	Get the last interactive_marker command pose for a joint.
const boost::shared_ptr < interactive_markers::MenuHandler > &	getMenuHandler ()
	Get the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.
bool	getMeshesVisible () const
const std::string &	getName () const
bool	getPoseOffset (const RobotInteraction::EndEffector &eef, geometry_msgs::Pose &m)
	Get the offset for the interactive marker controls for an end-effector, expressed in the frame of the end-effector parent.
bool	getPoseOffset (const RobotInteraction::Joint &vj, geometry_msgs::Pose &m)
	Get the offset for the interactive marker controls for a joint, expressed in the frame of the joint parent.
robot_state::RobotStateConstPtr	getState () const
const robot_state::StateValidityCallbackFn &	getStateValidityCallback () const
const InteractionHandlerCallbackFn &	getUpdateCallback () const
virtual void	handleEndEffector (const RobotInteraction::EndEffector &eef, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message.
virtual void	handleGeneric (const RobotInteraction::Generic &g, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message.
virtual void	handleJoint (const RobotInteraction::Joint &vj, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message.
virtual bool	inError (const RobotInteraction::EndEffector &eef) const
	Check if the marker corresponding to this end-effector leads to an invalid state.
virtual bool	inError (const RobotInteraction::Joint &vj) const
	Check if the marker corresponding to this joint leads to an invalid state.
virtual bool	inError (const RobotInteraction::Generic &g) const
	Check if the generic marker to an invalid state.
	InteractionHandler (const std::string &name, const robot_state::RobotState &kstate, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >())
	InteractionHandler (const std::string &name, const robot_model::RobotModelConstPtr &kmodel, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >())
void	setControlsVisible (bool visible)
void	setIKAttempts (unsigned int attempts)
void	setIKTimeout (double timeout)
void	setKinematicsQueryOptions (const kinematics::KinematicsQueryOptions &opt)
void	setMenuHandler (const boost::shared_ptr< interactive_markers::MenuHandler > &mh)
	Set the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.
void	setMeshesVisible (bool visible)
void	setPoseOffset (const RobotInteraction::EndEffector &eef, const geometry_msgs::Pose &m)
	Set the offset for drawing the interactive marker controls for an end-effector, expressed in the frame of the end-effector parent.
void	setPoseOffset (const RobotInteraction::Joint &eef, const geometry_msgs::Pose &m)
	Set the offset for drawing the interactive marker controls for a joint, expressed in the frame of the joint parent.
void	setState (const robot_state::RobotState &kstate)
void	setStateValidityCallback (const robot_state::StateValidityCallbackFn &callback)
void	setUpdateCallback (const InteractionHandlerCallbackFn &callback)
virtual	~InteractionHandler ()
Protected Member Functions
robot_state::RobotStatePtr	getUniqueStateAccess ()
void	setStateToAccess (robot_state::RobotStatePtr &state)
bool	transformFeedbackPose (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, const geometry_msgs::Pose &offset, geometry_msgs::PoseStamped &tpose)
Protected Attributes
bool	display_controls_
bool	display_meshes_
std::set< std::string >	error_state_
unsigned int	ik_attempts_
double	ik_timeout_
kinematics::KinematicsQueryOptions	kinematics_query_options_
robot_state::RobotStatePtr	kstate_
boost::shared_ptr < interactive_markers::MenuHandler >	menu_handler_
std::string	name_
std::map< std::string, geometry_msgs::Pose >	offset_map_
std::string	planning_frame_
std::map< std::string, geometry_msgs::PoseStamped >	pose_map_
robot_state::StateValidityCallbackFn	state_validity_callback_fn_
boost::shared_ptr < tf::Transformer >	tf_
boost::function< void(InteractionHandler *handler, bool error_state_changed)	update_callback_ )
Private Member Functions
void	setup ()
Private Attributes
boost::mutex	offset_map_lock_
boost::mutex	pose_map_lock_
boost::condition_variable	state_available_condition_
boost::mutex	state_lock_

Detailed Description

Manage interactive markers to control a RobotState.

Each instance maintains one or more interactive markers to control various joints in one group of one RobotState. The group being controlled is maintained by the RobotInteraction object that contains this InteractionHandler object. All InteractionHandler objects in the same RobotInteraction are controlling the same group.

Definition at line 174 of file robot_interaction.h.

Constructor & Destructor Documentation

robot_interaction::RobotInteraction::InteractionHandler::InteractionHandler	(	const std::string &	name,
		const robot_state::RobotState &	kstate,
		const boost::shared_ptr< tf::Transformer > &	tf = `boost::shared_ptr<tf::Transformer>()`
	)

Definition at line 57 of file robot_interaction.cpp.

robot_interaction::RobotInteraction::InteractionHandler::InteractionHandler	(	const std::string &	name,
		const robot_model::RobotModelConstPtr &	kmodel,
		const boost::shared_ptr< tf::Transformer > &	tf = `boost::shared_ptr<tf::Transformer>()`
	)

Definition at line 69 of file robot_interaction.cpp.

virtual robot_interaction::RobotInteraction::InteractionHandler::~InteractionHandler ( ) [inline, virtual]

Definition at line 185 of file robot_interaction.h.

Member Function Documentation

void robot_interaction::RobotInteraction::InteractionHandler::clearError ( void )

Clear any error settings. This makes the markers appear as if the state is no longer invalid.

Definition at line 380 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::clearLastEndEffectorMarkerPose ( const RobotInteraction::EndEffector & eef )

Clear the last interactive_marker command pose for the given end-effector.

Parameters:

The	target end-effector.

Definition at line 167 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::clearLastJointMarkerPose ( const RobotInteraction::Joint & vj )

Clear the last interactive_marker command pose for the given joint.

Parameters:

The	target joint.

Definition at line 173 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::clearLastMarkerPoses ( )

Clear the last interactive_marker command poses for all end-effectors and joints.

Definition at line 179 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::clearMenuHandler ( )

Remove the menu handler for this interaction handler.

Definition at line 195 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::clearPoseOffset ( const RobotInteraction::EndEffector & eef )

Clear the interactive marker pose offset for the given end-effector.

Parameters:

The	target end-effector.

Definition at line 101 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::clearPoseOffset ( const RobotInteraction::Joint & vj )

Clear the interactive marker pose offset for the given joint.

Parameters:

The	target joint.

Definition at line 107 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::clearPoseOffsets ( )

Clear the pose offset for all end-effectors and virtual joints.

Definition at line 113 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::InteractionHandler::getControlsVisible ( ) const [inline]

Definition at line 262 of file robot_interaction.h.

unsigned int robot_interaction::RobotInteraction::InteractionHandler::getIKAttempts ( ) const [inline]

Definition at line 232 of file robot_interaction.h.

double robot_interaction::RobotInteraction::InteractionHandler::getIKTimeout ( ) const [inline]

Definition at line 222 of file robot_interaction.h.

const kinematics::KinematicsQueryOptions& robot_interaction::RobotInteraction::InteractionHandler::getKinematicsQueryOptions ( ) const [inline]

Definition at line 237 of file robot_interaction.h.

bool robot_interaction::RobotInteraction::InteractionHandler::getLastEndEffectorMarkerPose	(	const RobotInteraction::EndEffector &	eef,
		geometry_msgs::PoseStamped &	pose
	)

Get the last interactive_marker command pose for an end-effector.

Parameters:

The	end-effector in question.
A	PoseStamped message containing the last (offset-removed) pose commanded for the end-effector.

Returns:: True if a pose for that end-effector was found, false otherwise.

Definition at line 143 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::InteractionHandler::getLastJointMarkerPose	(	const RobotInteraction::Joint &	vj,
		geometry_msgs::PoseStamped &	pose
	)

Get the last interactive_marker command pose for a joint.

Parameters:

The	joint in question.
A	PoseStamped message containing the last (offset-removed) pose commanded for the joint.

Returns:: True if a pose for that joint was found, false otherwise.

Definition at line 155 of file robot_interaction.cpp.

const boost::shared_ptr< interactive_markers::MenuHandler > & robot_interaction::RobotInteraction::InteractionHandler::getMenuHandler ( )

Get the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

Returns:: The menu handler.

Definition at line 190 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::InteractionHandler::getMeshesVisible ( ) const [inline]

Definition at line 252 of file robot_interaction.h.

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

Definition at line 189 of file robot_interaction.h.

bool robot_interaction::RobotInteraction::InteractionHandler::getPoseOffset	(	const RobotInteraction::EndEffector &	eef,
		geometry_msgs::Pose &	m
	)

Get the offset for the interactive marker controls for an end-effector, expressed in the frame of the end-effector parent.

Parameters:

The	target end-effector.
The	pose offset (only valid if return value is true).

Returns:: True if an offset was found for the given end-effector, false otherwise.

Definition at line 119 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::InteractionHandler::getPoseOffset	(	const RobotInteraction::Joint &	vj,
		geometry_msgs::Pose &	m
	)

Get the offset for the interactive marker controls for a joint, expressed in the frame of the joint parent.

Parameters:

The	target joint.
The	pose offset (only valid if return value is true).

Returns:: True if an offset was found for the given joint, false otherwise.

Definition at line 131 of file robot_interaction.cpp.

robot_state::RobotStateConstPtr robot_interaction::RobotInteraction::InteractionHandler::getState ( ) const

Definition at line 200 of file robot_interaction.cpp.

const robot_state::StateValidityCallbackFn& robot_interaction::RobotInteraction::InteractionHandler::getStateValidityCallback ( ) const [inline]

Definition at line 212 of file robot_interaction.h.

robot_state::RobotStatePtr robot_interaction::RobotInteraction::InteractionHandler::getUniqueStateAccess ( ) [protected]

Definition at line 231 of file robot_interaction.cpp.

const InteractionHandlerCallbackFn& robot_interaction::RobotInteraction::InteractionHandler::getUpdateCallback ( ) const [inline]

Definition at line 202 of file robot_interaction.h.

void robot_interaction::RobotInteraction::InteractionHandler::handleEndEffector	(	const RobotInteraction::EndEffector &	eef,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)		`[virtual]`

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 283 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::handleGeneric	(	const RobotInteraction::Generic &	g,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)		`[virtual]`

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 258 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::handleJoint	(	const RobotInteraction::Joint &	vj,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)		`[virtual]`

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 322 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::InteractionHandler::inError ( const RobotInteraction::EndEffector & eef ) const [virtual]

Check if the marker corresponding to this end-effector leads to an invalid state.

Definition at line 365 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::InteractionHandler::inError ( const RobotInteraction::Joint & vj ) const [virtual]

Check if the marker corresponding to this joint leads to an invalid state.

Definition at line 375 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::InteractionHandler::inError ( const RobotInteraction::Generic & g ) const [virtual]

Check if the generic marker to an invalid state.

Definition at line 370 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::setControlsVisible ( bool visible ) [inline]

Definition at line 257 of file robot_interaction.h.

void robot_interaction::RobotInteraction::InteractionHandler::setIKAttempts ( unsigned int attempts ) [inline]

Definition at line 227 of file robot_interaction.h.

void robot_interaction::RobotInteraction::InteractionHandler::setIKTimeout ( double timeout ) [inline]

Definition at line 217 of file robot_interaction.h.

void robot_interaction::RobotInteraction::InteractionHandler::setKinematicsQueryOptions ( const kinematics::KinematicsQueryOptions & opt ) [inline]

Definition at line 242 of file robot_interaction.h.

void robot_interaction::RobotInteraction::InteractionHandler::setMenuHandler ( const boost::shared_ptr< interactive_markers::MenuHandler > & mh )

Set the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

Parameters:

A	menu handler.

Definition at line 185 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::setMeshesVisible ( bool visible ) [inline]

Definition at line 247 of file robot_interaction.h.

void robot_interaction::RobotInteraction::InteractionHandler::setPoseOffset	(	const RobotInteraction::EndEffector &	eef,
		const geometry_msgs::Pose &	m
	)

Set the offset for drawing the interactive marker controls for an end-effector, expressed in the frame of the end-effector parent.

Parameters:

The	target end-effector.
The	desired pose offset.

Definition at line 89 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::setPoseOffset	(	const RobotInteraction::Joint &	eef,
		const geometry_msgs::Pose &	m
	)

Set the offset for drawing the interactive marker controls for a joint, expressed in the frame of the joint parent.

Parameters:

The	target joint.
The	desired pose offset.

Definition at line 95 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::setState ( const robot_state::RobotState & kstate )

Definition at line 215 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::setStateToAccess ( robot_state::RobotStatePtr & state ) [protected]

Definition at line 250 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::setStateValidityCallback ( const robot_state::StateValidityCallbackFn & callback ) [inline]

Definition at line 207 of file robot_interaction.h.

void robot_interaction::RobotInteraction::InteractionHandler::setup ( ) [private]

Definition at line 81 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::InteractionHandler::setUpdateCallback ( const InteractionHandlerCallbackFn & callback ) [inline]

Definition at line 197 of file robot_interaction.h.

bool robot_interaction::RobotInteraction::InteractionHandler::transformFeedbackPose	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		const geometry_msgs::Pose &	offset,
		geometry_msgs::PoseStamped &	tpose
	)		`[protected]`