An action for getting a full robot pose using interactive markers. More...

Public Member Functions
	BasePoseAction ()
geometry_msgs::PoseStamped	getDefaultPose ()
void	goalCB ()
	Callback to accept a new action goal.
void	initControlMarkers ()
void	initMarkers ()
	Re-initializes all markers.
void	initMeshMarkers ()
void	preemptCB ()
	Callback to allow this action to get preempted by backend.
void	setIdle ()
	Remove the markers.
void	setSeedPointCallback (const geometry_msgs::PointStampedConstPtr &seedPoint)
void	setSeedPoseCallback (const geometry_msgs::PoseStampedConstPtr &seedPose)
void	updatePoses ()
	Update the pose of certain markers.
void	updateSeed ()
	~BasePoseAction ()
Protected Member Functions
void	acceptCB ()
	Return with the gripper pose if the pose is valid, otherwise do nothing.
void	cancelCB ()
	Cancel this action call.
geometry_msgs::PoseStamped	clipToRadius (const geometry_msgs::PoseStamped &input, const float &radius)
void	fast_update ()
	ROS spin update callback.
void	focusCB ()
	Sends a request for the 3D camera to focus on the controls.
void	initMenus ()
	Initialize the menus for all markers.
void	poseControlCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Callback for pose updates from the controls.
void	poseMeshCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Called when the gripper is clicked; each call cycles through gripper opening values.
void	slow_update ()
Protected Attributes
MenuHandler::EntryHandle	accept_handle_
bool	active_
geometry_msgs::PoseStamped	base_pose_
MenuHandler::EntryHandle	cancel_handle_
geometry_msgs::PoseStamped	control_offset_
ros::Timer	fast_update_timer_
MenuHandler::EntryHandle	focus_handle_
std::string	get_pose_name_
actionlib::SimpleActionServer < pr2_object_manipulation_msgs::GetNavPoseAction >	get_pose_server_
int	interface_number_
double	max_direct_move_radius_
object_manipulator::MechanismInterface	mechanism_
MenuHandler	menu_controls_
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
ros::Publisher	pub_focus_
InteractiveMarkerServer	server_
ros::Timer	slow_update_timer_
ros::Subscriber	sub_seed_point_
ros::Subscriber	sub_seed_pose_
int	task_number_
int	tested_grasp_index_
bool	testing_current_grasp_
bool	testing_planned_grasp_
tf::TransformListener	tfl_

Detailed Description

An action for getting a full robot pose using interactive markers.

Definition at line 79 of file pr2_interactive_nav_action.cpp.

Constructor & Destructor Documentation

BasePoseAction::BasePoseAction ( ) [inline]

Definition at line 123 of file pr2_interactive_nav_action.cpp.

BasePoseAction::~BasePoseAction ( ) [inline]

Definition at line 168 of file pr2_interactive_nav_action.cpp.

Member Function Documentation

void BasePoseAction::acceptCB ( ) [inline, protected]

Return with the gripper pose if the pose is valid, otherwise do nothing.

Definition at line 386 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::cancelCB ( ) [inline, protected]

Cancel this action call.

Definition at line 396 of file pr2_interactive_nav_action.cpp.

geometry_msgs::PoseStamped BasePoseAction::clipToRadius	(	const geometry_msgs::PoseStamped &	input,
		const float &	radius
	)		`[inline, protected]`

Definition at line 416 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::fast_update ( ) [inline, protected]

ROS spin update callback.

Definition at line 374 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::focusCB ( ) [inline, protected]

Sends a request for the 3D camera to focus on the controls.

Definition at line 403 of file pr2_interactive_nav_action.cpp.

geometry_msgs::PoseStamped BasePoseAction::getDefaultPose ( ) [inline]

Definition at line 256 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::goalCB ( ) [inline]

Callback to accept a new action goal.

Definition at line 207 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::initControlMarkers ( ) [inline]

Definition at line 280 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::initMarkers ( ) [inline]

Re-initializes all markers.

Definition at line 270 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::initMenus ( ) [inline, protected]

Initialize the menus for all markers.

Definition at line 486 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::initMeshMarkers ( ) [inline]

Definition at line 276 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::poseControlCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [inline, protected]

Callback for pose updates from the controls.

Definition at line 460 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::poseMeshCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [inline, protected]

Called when the gripper is clicked; each call cycles through gripper opening values.

Definition at line 412 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::preemptCB ( ) [inline]

Callback to allow this action to get preempted by backend.

Definition at line 241 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::setIdle ( ) [inline]

Remove the markers.

Definition at line 200 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::setSeedPointCallback ( const geometry_msgs::PointStampedConstPtr & seedPoint ) [inline]

Definition at line 182 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::setSeedPoseCallback ( const geometry_msgs::PoseStampedConstPtr & seedPose ) [inline]

Definition at line 172 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::slow_update ( ) [inline, protected]

Definition at line 380 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::updatePoses ( ) [inline]

Update the pose of certain markers.

Definition at line 251 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::updateSeed ( ) [inline]

Definition at line 192 of file pr2_interactive_nav_action.cpp.

Member Data Documentation

MenuHandler::EntryHandle BasePoseAction::accept_handle_ [protected]

Definition at line 110 of file pr2_interactive_nav_action.cpp.

bool BasePoseAction::active_ [protected]

Definition at line 88 of file pr2_interactive_nav_action.cpp.

geometry_msgs::PoseStamped BasePoseAction::base_pose_ [protected]

Definition at line 85 of file pr2_interactive_nav_action.cpp.

MenuHandler::EntryHandle BasePoseAction::cancel_handle_ [protected]

Definition at line 111 of file pr2_interactive_nav_action.cpp.

geometry_msgs::PoseStamped BasePoseAction::control_offset_ [protected]

Definition at line 86 of file pr2_interactive_nav_action.cpp.

ros::Timer BasePoseAction::fast_update_timer_ [protected]

Definition at line 103 of file pr2_interactive_nav_action.cpp.

MenuHandler::EntryHandle BasePoseAction::focus_handle_ [protected]

Definition at line 112 of file pr2_interactive_nav_action.cpp.

std::string BasePoseAction::get_pose_name_ [protected]

Definition at line 118 of file pr2_interactive_nav_action.cpp.

actionlib::SimpleActionServer<pr2_object_manipulation_msgs::GetNavPoseAction> BasePoseAction::get_pose_server_ [protected]

Definition at line 119 of file pr2_interactive_nav_action.cpp.

int BasePoseAction::interface_number_ [protected]

Definition at line 90 of file pr2_interactive_nav_action.cpp.

double BasePoseAction::max_direct_move_radius_ [protected]

Definition at line 96 of file pr2_interactive_nav_action.cpp.

object_manipulator::MechanismInterface BasePoseAction::mechanism_ [protected]

Definition at line 116 of file pr2_interactive_nav_action.cpp.

MenuHandler BasePoseAction::menu_controls_ [protected]

Definition at line 109 of file pr2_interactive_nav_action.cpp.

ros::NodeHandle BasePoseAction::nh_ [protected]

Definition at line 98 of file pr2_interactive_nav_action.cpp.

ros::NodeHandle BasePoseAction::pnh_ [protected]

Definition at line 99 of file pr2_interactive_nav_action.cpp.

ros::Publisher BasePoseAction::pub_focus_ [protected]

Definition at line 107 of file pr2_interactive_nav_action.cpp.

InteractiveMarkerServer BasePoseAction::server_ [protected]

Definition at line 105 of file pr2_interactive_nav_action.cpp.

ros::Timer BasePoseAction::slow_update_timer_ [protected]

Definition at line 104 of file pr2_interactive_nav_action.cpp.

ros::Subscriber BasePoseAction::sub_seed_point_ [protected]

Definition at line 101 of file pr2_interactive_nav_action.cpp.

ros::Subscriber BasePoseAction::sub_seed_pose_ [protected]

Definition at line 100 of file pr2_interactive_nav_action.cpp.

int BasePoseAction::task_number_ [protected]

Definition at line 91 of file pr2_interactive_nav_action.cpp.

int BasePoseAction::tested_grasp_index_ [protected]

Definition at line 94 of file pr2_interactive_nav_action.cpp.

bool BasePoseAction::testing_current_grasp_ [protected]

Definition at line 95 of file pr2_interactive_nav_action.cpp.

bool BasePoseAction::testing_planned_grasp_ [protected]

Definition at line 93 of file pr2_interactive_nav_action.cpp.

tf::TransformListener BasePoseAction::tfl_ [protected]

Definition at line 114 of file pr2_interactive_nav_action.cpp.

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

pr2_interactive_nav_action.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation