Class inherited from planning_scene_utils::PlanningSceneEditor. More...

#include <arm_manip_node.h>

Inheritance diagram for srs_assisted_arm_navigation::CArmManipulationEditor:

Public Types
typedef message_filters::sync_policies::ApproximateTime < geometry_msgs::Vector3, geometry_msgs::Vector3 >	MySyncPolicy
Public Member Functions
bool	ArmNavCollObj (srs_assisted_arm_navigation_msgs::ArmNavCollObj::Request &req, srs_assisted_arm_navigation_msgs::ArmNavCollObj::Response &res)
bool	ArmNavExecute (srs_assisted_arm_navigation_msgs::ArmNavExecute::Request &req, srs_assisted_arm_navigation_msgs::ArmNavExecute::Response &res)
bool	ArmNavFailed (srs_assisted_arm_navigation_msgs::ArmNavFailed::Request &req, srs_assisted_arm_navigation_msgs::ArmNavFailed::Response &res)
bool	ArmNavMovePalmLink (srs_assisted_arm_navigation_msgs::ArmNavMovePalmLink::Request &req, srs_assisted_arm_navigation_msgs::ArmNavMovePalmLink::Response &res)
bool	ArmNavMovePalmLinkRel (srs_assisted_arm_navigation_msgs::ArmNavMovePalmLinkRel::Request &req, srs_assisted_arm_navigation_msgs::ArmNavMovePalmLinkRel::Response &res)
bool	ArmNavNew (srs_assisted_arm_navigation_msgs::ArmNavNew::Request &req, srs_assisted_arm_navigation_msgs::ArmNavNew::Response &res)
bool	ArmNavPlan (srs_assisted_arm_navigation_msgs::ArmNavPlan::Request &req, srs_assisted_arm_navigation_msgs::ArmNavPlan::Response &res)
bool	ArmNavPlay (srs_assisted_arm_navigation_msgs::ArmNavPlay::Request &req, srs_assisted_arm_navigation_msgs::ArmNavPlay::Response &res)
bool	ArmNavRefresh (srs_assisted_arm_navigation_msgs::ArmNavRefresh::Request &req, srs_assisted_arm_navigation_msgs::ArmNavRefresh::Response &res)
bool	ArmNavRemoveCollObjects (srs_assisted_arm_navigation_msgs::ArmNavRemoveCollObjects::Request &req, srs_assisted_arm_navigation_msgs::ArmNavRemoveCollObjects::Response &res)
bool	ArmNavRepeat (srs_assisted_arm_navigation_msgs::ArmNavRepeat::Request &req, srs_assisted_arm_navigation_msgs::ArmNavRepeat::Response &res)
bool	ArmNavReset (srs_assisted_arm_navigation_msgs::ArmNavReset::Request &req, srs_assisted_arm_navigation_msgs::ArmNavReset::Response &res)
bool	ArmNavSetAttached (srs_assisted_arm_navigation_msgs::ArmNavSetAttached::Request &req, srs_assisted_arm_navigation_msgs::ArmNavSetAttached::Response &res)
bool	ArmNavStep (srs_assisted_arm_navigation_msgs::ArmNavStep::Request &req, srs_assisted_arm_navigation_msgs::ArmNavStep::Response &res)
bool	ArmNavStop (srs_assisted_arm_navigation_msgs::ArmNavStop::Request &req, srs_assisted_arm_navigation_msgs::ArmNavStop::Response &res)
bool	ArmNavSuccess (srs_assisted_arm_navigation_msgs::ArmNavSuccess::Request &req, srs_assisted_arm_navigation_msgs::ArmNavSuccess::Response &res)
bool	ArmNavSwitchACO (srs_assisted_arm_navigation_msgs::ArmNavSwitchAttCO::Request &req, srs_assisted_arm_navigation_msgs::ArmNavSwitchAttCO::Response &res)
virtual void	attachObjectCallback (const std::string &name)
	CArmManipulationEditor (planning_scene_utils::PlanningSceneParameters &params, std::vector< string > clist)
void	createAttachedObj ()
virtual void	filterCallback (arm_navigation_msgs::ArmNavigationErrorCodes &errorCode)
	Virtual function called when the filter is invoked.
void	joyCallback (const sensor_msgs::Joy::ConstPtr &joy)
virtual void	onPlanningSceneLoaded ()
virtual void	planCallback (arm_navigation_msgs::ArmNavigationErrorCodes &errorCode)
	Virtual function called when the planner is invoked.
bool	refresh ()
void	remove_coll_objects ()
void	reset ()
virtual void	selectedTrajectoryCurrentPointChanged (unsigned int new_current_point)
	Called when the selected trajectory of the selected motion plan updates its current point. Override to do something useful.
void	spacenavOffsetCallback (const geometry_msgs::Vector3ConstPtr &offset)
void	spacenavRotOffsetCallback (const geometry_msgs::Vector3ConstPtr &rot_offset)
void	spin_callback (const ros::TimerEvent &)
bool	transf (std::string target_frame, geometry_msgs::PoseStamped &pose)
virtual void	updateState ()
	Pure virtual function called when a trajectory, motion plan request, or the robot's state is changed.
	~CArmManipulationEditor ()
Public Attributes
bool	aco_
ManualArmManipActionServer *	action_server_ptr_
	Pointer to action server. It's used to get access to srv_set_state method of ManualArmManipActionServer class.
ros::Publisher	gripper_rpy_publisher_
double	inflate_bb_
ros::Subscriber	joy_sub_
ros::Subscriber	offset_sub_
ros::Subscriber	rot_offset_sub_
tf::TransformListener *	tfl_
std::string	world_frame_
vector< int32_t >	buttons_
std::string	filter_desc
arm_navigation_msgs::ArmNavigationErrorCodes	filter_error_code
bool	lock_orientation_
bool	lock_position_
double	max_val_
double	min_val_th_
boost::mutex	mutex_
geometry_msgs::Vector3	offset
bool	offset_received_
bool	out_of_limits
std::string	plan_desc
arm_navigation_msgs::ArmNavigationErrorCodes	plan_error_code
geometry_msgs::Vector3	rot_offset
bool	rot_offset_received_
double	rot_step_
std::string	rviz_cam_link_
double	step_
bool	use_rviz_cam_
Protected Member Functions
std::string	add_coll_obj_attached (double x, double y, double z, double scx, double scz)
std::string	add_coll_obj_bb (t_det_obj &obj)
bool	checkPose (geometry_msgs::PoseStamped &p, std::string frame)
bool	findIK (geometry_msgs::Pose new_pose)
geometry_msgs::Vector3	GetAsEuler (geometry_msgs::Quaternion quat)
void	GripperPoses ()
void	GripperPosesClean ()
void	normAngle (double &a)
void	processSpaceNav ()
void	spacenavCallback (const ros::TimerEvent &ev)
void	subClick (const srs_interaction_primitives::PositionClickedConstPtr &msg)
void	tfTimerCallback (const ros::TimerEvent &ev)
void	timerCallback (const ros::TimerEvent &ev)
Protected Attributes
std::string	aco_link_
struct {
std::string filter_desc
arm_navigation_msgs::ArmNavigationErrorCodes filter_error_code
bool out_of_limits
std::string plan_desc
arm_navigation_msgs::ArmNavigationErrorCodes plan_error_code
}	arm_nav_state_
ros::Publisher	arm_nav_state_pub_
tf::TransformBroadcaster	br_
std::vector< std::string >	coll_obj_attached_id
std::vector< t_det_obj >	coll_obj_det
bool	coll_objects_selectable_
std::string	collision_objects_frame_id_
bool	disable_gripper_poses_
std::string	end_eff_link_
unsigned int	filt_traj_id
boost::circular_buffer < geometry_msgs::Pose > *	gripper_poses_
boost::thread	gripper_poses_thread_
bool	inited
bool	joint_controls_
std::vector< std::string >	links_
unsigned int	mpr_id
bool	planned_
std::string	planning_scene_id
struct {
vector< int32_t > buttons_
bool lock_orientation_
bool lock_position_
double max_val_
double min_val_th_
boost::mutex mutex_
geometry_msgs::Vector3 offset
bool offset_received_
geometry_msgs::Vector3 rot_offset
bool rot_offset_received_
double rot_step_
std::string rviz_cam_link_
double step_
bool use_rviz_cam_
}	spacenav
ros::Timer	spacenav_timer_
ros::Timer	state_timer_
bool	step_used_
ros::Subscriber	sub_click_
ros::Timer	tf_timer_
unsigned int	traj_id
bool	use_spacenav_

Detailed Description

Class inherited from planning_scene_utils::PlanningSceneEditor.

CArmManipulationEditor

These class provides access to functionality of PlanningSceneEditor.

Definition at line 284 of file arm_manip_node.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<geometry_msgs::Vector3, geometry_msgs::Vector3> srs_assisted_arm_navigation::CArmManipulationEditor::MySyncPolicy

Definition at line 344 of file arm_manip_node.h.

Constructor & Destructor Documentation

CArmManipulationEditor::CArmManipulationEditor	(	planning_scene_utils::PlanningSceneParameters &	params,
		std::vector< string >	clist
	)

Class constructor.

Parameters:

params	Parameters for planning scene editor.
clist	List of links which may be in collision with artificial collision object connected to arm gripper.

Definition at line 36 of file arm_manip_node.cpp.

CArmManipulationEditor::~CArmManipulationEditor ( )

Definition at line 654 of file arm_manip_node.cpp.

Member Function Documentation

std::string CArmManipulationEditor::add_coll_obj_attached	(	double	x,
		double	y,
		double	z,
		double	scx,
		double	scz
	)		`[protected]`

Method which can be used to add attached collision object to planning scene. Added object is cylinder attached to /arm_7_link. Position coordinates are in /arm_7_link frame (method transforms them to base_link frame).

Parameters:

x	position
y	position
z	position
scx	scale in x and y (cylinder is always symmetric)
scz	length of cylinder

Returns:: ID of added collision object.

Todo:

Add color as param.

Make frame configurable.

Bug:: Fails if it's called multiple times. For one object it works fine.

Definition at line 268 of file arm_manip_collobj_methods.cpp.

std::string CArmManipulationEditor::add_coll_obj_bb ( t_det_obj & obj ) [protected]

We have to transform object to /base_link system

we need transformation for current time!

Definition at line 35 of file arm_manip_collobj_methods.cpp.

bool CArmManipulationEditor::ArmNavCollObj	(	srs_assisted_arm_navigation_msgs::ArmNavCollObj::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavCollObj::Response &	res
	)

Todo:: Store object coords. in map frame. Then on each refresh add it transformed into base_link

Parameters:

req
res

Returns:

Definition at line 504 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavExecute	(	srs_assisted_arm_navigation_msgs::ArmNavExecute::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavExecute::Response &	res
	)

Todo:: Wait for stop of arm movement (optionally, should be configurable by param).

Definition at line 287 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavFailed	(	srs_assisted_arm_navigation_msgs::ArmNavFailed::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavFailed::Response &	res
	)

Definition at line 376 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavMovePalmLink	(	srs_assisted_arm_navigation_msgs::ArmNavMovePalmLink::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavMovePalmLink::Response &	res
	)

Definition at line 545 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavMovePalmLinkRel	(	srs_assisted_arm_navigation_msgs::ArmNavMovePalmLinkRel::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavMovePalmLinkRel::Response &	res
	)

Definition at line 605 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavNew	(	srs_assisted_arm_navigation_msgs::ArmNavNew::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavNew::Response &	res
	)

Service callbacks. Each callback performes some action and sets new state of execution.

Bug:: why it's not possible to add more objects?? -> Size mismatch between poses size 2 and shapes size 1

add all detected objects

set current state to NEW (it's used in action callback to provide correct feedback)

Definition at line 35 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavPlan	(	srs_assisted_arm_navigation_msgs::ArmNavPlan::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavPlan::Response &	res
	)

Definition at line 161 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavPlay	(	srs_assisted_arm_navigation_msgs::ArmNavPlay::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavPlay::Response &	res
	)

Definition at line 265 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavRefresh	(	srs_assisted_arm_navigation_msgs::ArmNavRefresh::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavRefresh::Response &	res
	)

Definition at line 400 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavRemoveCollObjects	(	srs_assisted_arm_navigation_msgs::ArmNavRemoveCollObjects::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavRemoveCollObjects::Response &	res
	)

Definition at line 337 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavRepeat	(	srs_assisted_arm_navigation_msgs::ArmNavRepeat::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavRepeat::Response &	res
	)

Definition at line 388 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavReset	(	srs_assisted_arm_navigation_msgs::ArmNavReset::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavReset::Response &	res
	)

Definition at line 325 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavSetAttached	(	srs_assisted_arm_navigation_msgs::ArmNavSetAttached::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavSetAttached::Response &	res
	)

Definition at line 418 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavStep	(	srs_assisted_arm_navigation_msgs::ArmNavStep::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavStep::Response &	res
	)

Definition at line 684 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavStop	(	srs_assisted_arm_navigation_msgs::ArmNavStop::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavStop::Response &	res
	)

Definition at line 774 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavSuccess	(	srs_assisted_arm_navigation_msgs::ArmNavSuccess::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavSuccess::Response &	res
	)

Definition at line 364 of file arm_manip_services.cpp.

bool CArmManipulationEditor::ArmNavSwitchACO	(	srs_assisted_arm_navigation_msgs::ArmNavSwitchAttCO::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavSwitchAttCO::Response &	res
	)

Definition at line 753 of file arm_manip_services.cpp.

void CArmManipulationEditor::attachObjectCallback ( const std::string & name ) [virtual]

Implements planning_scene_utils::PlanningSceneEditor.

Definition at line 745 of file arm_manip_node.cpp.

bool CArmManipulationEditor::checkPose	(	geometry_msgs::PoseStamped &	p,
		std::string	frame
	)		`[protected]`

Definition at line 666 of file arm_manip_node.cpp.

void srs_assisted_arm_navigation::CArmManipulationEditor::createAttachedObj ( )

Method which creates artificial collision object connected to arm (gripper).

Todo:: Make it configurable by parameters in launch file (size and position of object)

void CArmManipulationEditor::filterCallback ( arm_navigation_msgs::ArmNavigationErrorCodes & errorCode ) [virtual]

Virtual function called when the filter is invoked.

Parameters:

errorCode,the result of the filter call.

Implements planning_scene_utils::PlanningSceneEditor.

Definition at line 730 of file arm_manip_node.cpp.

bool CArmManipulationEditor::findIK ( geometry_msgs::Pose new_pose ) [protected]

Definition at line 830 of file arm_manip_node.cpp.

geometry_msgs::Vector3 CArmManipulationEditor::GetAsEuler ( geometry_msgs::Quaternion quat ) [protected]

Definition at line 870 of file arm_manip_node.cpp.

void CArmManipulationEditor::GripperPoses ( ) [protected]

Definition at line 904 of file arm_manip_node.cpp.

void CArmManipulationEditor::GripperPosesClean ( ) [protected]

Definition at line 893 of file arm_manip_node.cpp.

void CArmManipulationEditor::joyCallback ( const sensor_msgs::Joy::ConstPtr & joy )

Definition at line 598 of file arm_manip_node.cpp.

void CArmManipulationEditor::normAngle ( double & a ) [protected]

Definition at line 147 of file arm_manip_node.cpp.

void CArmManipulationEditor::onPlanningSceneLoaded ( ) [virtual]

Various callbacks - currently not used.

Definition at line 712 of file arm_manip_node.cpp.

void CArmManipulationEditor::planCallback ( arm_navigation_msgs::ArmNavigationErrorCodes & errorCode ) [virtual]

Virtual function called when the planner is invoked.

Parameters:

errorCode,the result of the plan.

Implements planning_scene_utils::PlanningSceneEditor.

Definition at line 714 of file arm_manip_node.cpp.

void CArmManipulationEditor::processSpaceNav ( ) [protected]

Definition at line 166 of file arm_manip_node.cpp.

bool CArmManipulationEditor::refresh ( )

Definition at line 806 of file arm_manip_node.cpp.

void CArmManipulationEditor::remove_coll_objects ( )

Remove detected objects from list.

Definition at line 749 of file arm_manip_node.cpp.

void CArmManipulationEditor::reset ( void )

This method removes all artificial objects and all trajectory data from warehouse.

Todo:: Test if it does its job correctly.

delete all attached collision objects

delete all collision objects corresponding to detected objects

Definition at line 755 of file arm_manip_node.cpp.

void CArmManipulationEditor::selectedTrajectoryCurrentPointChanged ( unsigned int new_current_point ) [virtual]

Called when the selected trajectory of the selected motion plan updates its current point. Override to do something useful.

Parameters:

new_current_point the new current point in the selected trajectory.

Reimplemented from planning_scene_utils::PlanningSceneEditor.

Definition at line 746 of file arm_manip_node.cpp.

void CArmManipulationEditor::spacenavCallback ( const ros::TimerEvent & ev ) [protected]

Definition at line 466 of file arm_manip_node.cpp.

void CArmManipulationEditor::spacenavOffsetCallback ( const geometry_msgs::Vector3ConstPtr & offset )

Definition at line 546 of file arm_manip_node.cpp.

void CArmManipulationEditor::spacenavRotOffsetCallback ( const geometry_msgs::Vector3ConstPtr & rot_offset )

Definition at line 572 of file arm_manip_node.cpp.

void CArmManipulationEditor::spin_callback ( const ros::TimerEvent & )

This callback is used to send interactive markers. It uses TimerEvent.

Todo:: Make the period configurable.

Definition at line 817 of file arm_manip_node.cpp.

void CArmManipulationEditor::subClick ( const srs_interaction_primitives::PositionClickedConstPtr & msg ) [protected]

Definition at line 233 of file arm_manip_collobj_methods.cpp.

void CArmManipulationEditor::tfTimerCallback ( const ros::TimerEvent & ev ) [protected]

Definition at line 401 of file arm_manip_node.cpp.

void CArmManipulationEditor::timerCallback ( const ros::TimerEvent & ev ) [protected]

Definition at line 474 of file arm_manip_node.cpp.

bool CArmManipulationEditor::transf	(	std::string	target_frame,
		geometry_msgs::PoseStamped &	pose
	)

Definition at line 119 of file arm_manip_node.cpp.

void CArmManipulationEditor::updateState ( ) [virtual]

Pure virtual function called when a trajectory, motion plan request, or the robot's state is changed.

Reimplemented from planning_scene_utils::PlanningSceneEditor.

Definition at line 713 of file arm_manip_node.cpp.

Member Data Documentation

bool srs_assisted_arm_navigation::CArmManipulationEditor::aco_

Definition at line 384 of file arm_manip_node.h.

std::string srs_assisted_arm_navigation::CArmManipulationEditor::aco_link_ [protected]

Definition at line 506 of file arm_manip_node.h.

ManualArmManipActionServer* srs_assisted_arm_navigation::CArmManipulationEditor::action_server_ptr_

Pointer to action server. It's used to get access to srv_set_state method of ManualArmManipActionServer class.

Definition at line 376 of file arm_manip_node.h.

struct { ... } srs_assisted_arm_navigation::CArmManipulationEditor::arm_nav_state_ [protected]

ros::Publisher srs_assisted_arm_navigation::CArmManipulationEditor::arm_nav_state_pub_ [protected]

Definition at line 439 of file arm_manip_node.h.

tf::TransformBroadcaster srs_assisted_arm_navigation::CArmManipulationEditor::br_ [protected]

Definition at line 400 of file arm_manip_node.h.

vector<int32_t> srs_assisted_arm_navigation::CArmManipulationEditor::buttons_

Definition at line 434 of file arm_manip_node.h.

std::vector<std::string> srs_assisted_arm_navigation::CArmManipulationEditor::coll_obj_attached_id [protected]

List of IDs of attached collision objects (artificial objects attached to arm gripper)

Definition at line 450 of file arm_manip_node.h.

std::vector<t_det_obj> srs_assisted_arm_navigation::CArmManipulationEditor::coll_obj_det [protected]

List of detected objects which should be in added in collision map.

Definition at line 499 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::coll_objects_selectable_ [protected]

Definition at line 491 of file arm_manip_node.h.

std::string srs_assisted_arm_navigation::CArmManipulationEditor::collision_objects_frame_id_ [protected]

Definition at line 490 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::disable_gripper_poses_ [protected]

Definition at line 462 of file arm_manip_node.h.

std::string srs_assisted_arm_navigation::CArmManipulationEditor::end_eff_link_ [protected]

Definition at line 508 of file arm_manip_node.h.

unsigned int srs_assisted_arm_navigation::CArmManipulationEditor::filt_traj_id [protected]

ID of filtered trajectory

Definition at line 449 of file arm_manip_node.h.

std::string srs_assisted_arm_navigation::CArmManipulationEditor::filter_desc

Definition at line 517 of file arm_manip_node.h.

arm_navigation_msgs::ArmNavigationErrorCodes srs_assisted_arm_navigation::CArmManipulationEditor::filter_error_code

Definition at line 514 of file arm_manip_node.h.

boost::circular_buffer<geometry_msgs::Pose>* srs_assisted_arm_navigation::CArmManipulationEditor::gripper_poses_ [protected]

Definition at line 458 of file arm_manip_node.h.

boost::thread srs_assisted_arm_navigation::CArmManipulationEditor::gripper_poses_thread_ [protected]

Definition at line 460 of file arm_manip_node.h.

ros::Publisher srs_assisted_arm_navigation::CArmManipulationEditor::gripper_rpy_publisher_

Definition at line 386 of file arm_manip_node.h.

double srs_assisted_arm_navigation::CArmManipulationEditor::inflate_bb_

Variable to store inflate_bb parameter.

See also:: INFLATE_BB

Definition at line 382 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::inited [protected]

Indicates if the arm_nav_new was already called

Definition at line 452 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::joint_controls_ [protected]

Definition at line 505 of file arm_manip_node.h.

ros::Subscriber srs_assisted_arm_navigation::CArmManipulationEditor::joy_sub_

Definition at line 348 of file arm_manip_node.h.

std::vector<std::string> srs_assisted_arm_navigation::CArmManipulationEditor::links_ [protected]

List of links which can be in collision of collision object

Definition at line 456 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::lock_orientation_

Definition at line 422 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::lock_position_

Definition at line 421 of file arm_manip_node.h.

double srs_assisted_arm_navigation::CArmManipulationEditor::max_val_

Definition at line 427 of file arm_manip_node.h.

double srs_assisted_arm_navigation::CArmManipulationEditor::min_val_th_

Definition at line 428 of file arm_manip_node.h.

unsigned int srs_assisted_arm_navigation::CArmManipulationEditor::mpr_id [protected]

ID of current motion plan request

Definition at line 447 of file arm_manip_node.h.

boost::mutex srs_assisted_arm_navigation::CArmManipulationEditor::mutex_

Definition at line 416 of file arm_manip_node.h.

geometry_msgs::Vector3 srs_assisted_arm_navigation::CArmManipulationEditor::offset

Definition at line 424 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::offset_received_

Definition at line 418 of file arm_manip_node.h.

ros::Subscriber srs_assisted_arm_navigation::CArmManipulationEditor::offset_sub_

Definition at line 346 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::out_of_limits

Definition at line 519 of file arm_manip_node.h.

std::string srs_assisted_arm_navigation::CArmManipulationEditor::plan_desc

Definition at line 516 of file arm_manip_node.h.

arm_navigation_msgs::ArmNavigationErrorCodes srs_assisted_arm_navigation::CArmManipulationEditor::plan_error_code

Definition at line 513 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::planned_ [protected]

Definition at line 454 of file arm_manip_node.h.

std::string srs_assisted_arm_navigation::CArmManipulationEditor::planning_scene_id [protected]

ID of current planing scene

Definition at line 446 of file arm_manip_node.h.

geometry_msgs::Vector3 srs_assisted_arm_navigation::CArmManipulationEditor::rot_offset

Definition at line 425 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::rot_offset_received_

Definition at line 419 of file arm_manip_node.h.

ros::Subscriber srs_assisted_arm_navigation::CArmManipulationEditor::rot_offset_sub_

Definition at line 347 of file arm_manip_node.h.

double srs_assisted_arm_navigation::CArmManipulationEditor::rot_step_

Definition at line 430 of file arm_manip_node.h.

std::string srs_assisted_arm_navigation::CArmManipulationEditor::rviz_cam_link_

Definition at line 432 of file arm_manip_node.h.

struct { ... } srs_assisted_arm_navigation::CArmManipulationEditor::spacenav [protected]

ros::Timer srs_assisted_arm_navigation::CArmManipulationEditor::spacenav_timer_ [protected]

Definition at line 410 of file arm_manip_node.h.

ros::Timer srs_assisted_arm_navigation::CArmManipulationEditor::state_timer_ [protected]

Definition at line 408 of file arm_manip_node.h.

double srs_assisted_arm_navigation::CArmManipulationEditor::step_

Definition at line 429 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::step_used_ [protected]

Definition at line 469 of file arm_manip_node.h.

ros::Subscriber srs_assisted_arm_navigation::CArmManipulationEditor::sub_click_ [protected]

Definition at line 394 of file arm_manip_node.h.

ros::Timer srs_assisted_arm_navigation::CArmManipulationEditor::tf_timer_ [protected]

Definition at line 406 of file arm_manip_node.h.

tf::TransformListener* srs_assisted_arm_navigation::CArmManipulationEditor::tfl_

Definition at line 377 of file arm_manip_node.h.

unsigned int srs_assisted_arm_navigation::CArmManipulationEditor::traj_id [protected]

ID of planned trajectory

Definition at line 448 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::use_rviz_cam_

Definition at line 431 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::CArmManipulationEditor::use_spacenav_ [protected]

Definition at line 412 of file arm_manip_node.h.

std::string srs_assisted_arm_navigation::CArmManipulationEditor::world_frame_

Definition at line 388 of file arm_manip_node.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation