Convenience class wrapping a planning scene message and its meta-data. More...
#include <move_arm_utils.h>
Public Member Functions | |
void | addMotionPlanRequestId (unsigned int id) |
std::vector < arm_navigation_msgs::ArmNavigationErrorCodes > & | getErrorCodes () |
Gets a vector of trajectory error codes corresponding 1-1 to each pipeline stage. | |
std::string | getHostName () const |
Returns the host of the network machine that the planning scene was recorded on. | |
unsigned int | getId () const |
std::string | getName () const |
Returns the unique Id of the planning scene. | |
unsigned int | getNextMotionPlanRequestId () const |
std::vector< std::string > & | getPipelineStages () |
Returns a vector of arbitrary strings corresponding to the different "pipelines" of the planning scene. These are defined by the user of the warehouse logger reader. They may be things like "planner" "filter", "IK", etc. | |
arm_navigation_msgs::PlanningScene & | getPlanningScene () |
Returns the underlying planning scene message. | |
std::set< unsigned int > & | getRequests () |
Returns a vector of Motion Plan Ids of the motion plan requests stored in the planning scene. | |
void | getRobotState (planning_models::KinematicState *state) |
Fills the Kinematic state passed into the function with the values specified by the robot state message inside the underlying planning scene message. | |
const ros::Time & | getTimeStamp () const |
Returns the time that the planning scene was recorded (ignores sim time) | |
bool | hasMotionPlanRequestId (unsigned int id) const |
PlanningSceneData () | |
PlanningSceneData (unsigned int id, const ros::Time ×tamp, const arm_navigation_msgs::PlanningScene &scene) | |
void | removeMotionPlanRequestId (unsigned int id) |
void | setErrorCodes (std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &error_codes) |
see getErrorCodes | |
void | setHostName (std::string host) |
Set the host of the network machine that the planning scene was recorded on. | |
void | setId (unsigned int id) |
void | setPipelineStages (std::vector< std::string > &stages) |
see getPipelineStages | |
void | setPlanningScene (const arm_navigation_msgs::PlanningScene &scene) |
Sets the underlying planning scene message. | |
void | setTimeStamp (const ros::Time &time) |
Sets the time that the planning scene was recorded. | |
Protected Attributes | |
std::vector < arm_navigation_msgs::ArmNavigationErrorCodes > | error_codes_ |
std::string | host_ |
unsigned int | id_ |
std::set< unsigned int > | motion_plan_requests_ |
std::string | name_ |
std::vector< std::string > | pipeline_stages_ |
arm_navigation_msgs::PlanningScene | planning_scene_ |
ros::Time | timestamp_ |
Convenience class wrapping a planning scene message and its meta-data.
Class PlanningSceneData
Definition at line 203 of file move_arm_utils.h.
Definition at line 89 of file move_arm_utils.cpp.
PlanningSceneData::PlanningSceneData | ( | unsigned int | id, |
const ros::Time & | timestamp, | ||
const arm_navigation_msgs::PlanningScene & | scene | ||
) |
Definition at line 95 of file move_arm_utils.cpp.
void planning_scene_utils::PlanningSceneData::addMotionPlanRequestId | ( | unsigned int | id | ) | [inline] |
Definition at line 313 of file move_arm_utils.h.
std::vector<arm_navigation_msgs::ArmNavigationErrorCodes>& planning_scene_utils::PlanningSceneData::getErrorCodes | ( | ) | [inline] |
Gets a vector of trajectory error codes corresponding 1-1 to each pipeline stage.
Definition at line 288 of file move_arm_utils.h.
std::string planning_scene_utils::PlanningSceneData::getHostName | ( | ) | const [inline] |
Returns the host of the network machine that the planning scene was recorded on.
Definition at line 220 of file move_arm_utils.h.
unsigned int planning_scene_utils::PlanningSceneData::getId | ( | ) | const [inline] |
Definition at line 237 of file move_arm_utils.h.
std::string planning_scene_utils::PlanningSceneData::getName | ( | void | ) | const [inline] |
Returns the unique Id of the planning scene.
Definition at line 232 of file move_arm_utils.h.
unsigned int planning_scene_utils::PlanningSceneData::getNextMotionPlanRequestId | ( | ) | const [inline] |
Definition at line 321 of file move_arm_utils.h.
std::vector<std::string>& planning_scene_utils::PlanningSceneData::getPipelineStages | ( | ) | [inline] |
Returns a vector of arbitrary strings corresponding to the different "pipelines" of the planning scene. These are defined by the user of the warehouse logger reader. They may be things like "planner" "filter", "IK", etc.
Definition at line 276 of file move_arm_utils.h.
arm_navigation_msgs::PlanningScene& planning_scene_utils::PlanningSceneData::getPlanningScene | ( | ) | [inline] |
Returns the underlying planning scene message.
Definition at line 249 of file move_arm_utils.h.
std::set<unsigned int>& planning_scene_utils::PlanningSceneData::getRequests | ( | ) | [inline] |
Returns a vector of Motion Plan Ids of the motion plan requests stored in the planning scene.
Definition at line 300 of file move_arm_utils.h.
void PlanningSceneData::getRobotState | ( | planning_models::KinematicState * | state | ) |
Fills the Kinematic state passed into the function with the values specified by the robot state message inside the underlying planning scene message.
Definition at line 102 of file move_arm_utils.cpp.
const ros::Time& planning_scene_utils::PlanningSceneData::getTimeStamp | ( | ) | const [inline] |
Returns the time that the planning scene was recorded (ignores sim time)
Definition at line 243 of file move_arm_utils.h.
bool planning_scene_utils::PlanningSceneData::hasMotionPlanRequestId | ( | unsigned int | id | ) | const [inline] |
Definition at line 309 of file move_arm_utils.h.
void planning_scene_utils::PlanningSceneData::removeMotionPlanRequestId | ( | unsigned int | id | ) | [inline] |
Definition at line 317 of file move_arm_utils.h.
void planning_scene_utils::PlanningSceneData::setErrorCodes | ( | std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > & | error_codes | ) | [inline] |
see getErrorCodes
Definition at line 294 of file move_arm_utils.h.
void planning_scene_utils::PlanningSceneData::setHostName | ( | std::string | host | ) | [inline] |
Set the host of the network machine that the planning scene was recorded on.
Definition at line 226 of file move_arm_utils.h.
void planning_scene_utils::PlanningSceneData::setId | ( | unsigned int | id | ) | [inline] |
Definition at line 261 of file move_arm_utils.h.
void planning_scene_utils::PlanningSceneData::setPipelineStages | ( | std::vector< std::string > & | stages | ) | [inline] |
see getPipelineStages
Definition at line 282 of file move_arm_utils.h.
void planning_scene_utils::PlanningSceneData::setPlanningScene | ( | const arm_navigation_msgs::PlanningScene & | scene | ) | [inline] |
Sets the underlying planning scene message.
Definition at line 267 of file move_arm_utils.h.
void planning_scene_utils::PlanningSceneData::setTimeStamp | ( | const ros::Time & | time | ) | [inline] |
Sets the time that the planning scene was recorded.
Definition at line 255 of file move_arm_utils.h.
std::vector<arm_navigation_msgs::ArmNavigationErrorCodes> planning_scene_utils::PlanningSceneData::error_codes_ [protected] |
Definition at line 212 of file move_arm_utils.h.
std::string planning_scene_utils::PlanningSceneData::host_ [protected] |
Definition at line 208 of file move_arm_utils.h.
unsigned int planning_scene_utils::PlanningSceneData::id_ [protected] |
Definition at line 207 of file move_arm_utils.h.
std::set<unsigned int> planning_scene_utils::PlanningSceneData::motion_plan_requests_ [protected] |
Definition at line 213 of file move_arm_utils.h.
std::string planning_scene_utils::PlanningSceneData::name_ [protected] |
Definition at line 206 of file move_arm_utils.h.
std::vector<std::string> planning_scene_utils::PlanningSceneData::pipeline_stages_ [protected] |
Definition at line 211 of file move_arm_utils.h.
arm_navigation_msgs::PlanningScene planning_scene_utils::PlanningSceneData::planning_scene_ [protected] |
Definition at line 210 of file move_arm_utils.h.
Definition at line 209 of file move_arm_utils.h.