srs_assisted_arm_navigation::ManualArmManipActionServer Class Reference

Class is used to wrap actionlib server and related variables. More...

#include <arm_manip_node.h>

List of all members.

Public Types
enum	{   S_NONE, S_NEW, S_PLAN, S_EXECUTE,   S_RESET, S_SUCCESS, S_FAILED, S_REPEAT }
	List of possible states of arm manipulation task. More...
Public Member Functions
unsigned int	get_state ()
	ManualArmManipActionServer (std::string name)
void	srv_set_state (unsigned int n)
	~ManualArmManipActionServer (void)
Public Attributes
ros::Duration	solve_timeout_
ros::Duration	start_timeout_
Protected Member Functions
void	executeCB (const srs_assisted_arm_navigation_msgs::ManualArmManipGoalConstPtr &goal)
void	setFeedbackFalse ()
Protected Attributes
std::string	action_name_
srs_assisted_arm_navigation_msgs::ManualArmManipActionFeedback	feedback_
bool	inited_
unsigned int	new_state_
ros::NodeHandle	nh_
planning_scene_utils::PlanningSceneParameters	params_
srs_assisted_arm_navigation_msgs::ManualArmManipActionResult	result_
actionlib::SimpleActionServer < srs_assisted_arm_navigation_msgs::ManualArmManipAction >	server_
	Actionlib server.
ros::Time	start_time_
unsigned int	state_
ros::Time	timeout_

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Detailed Description

Class is used to wrap actionlib server and related variables.

ManualArmManipActionServer

Class implements actionlib server, which can be called from some client (there is also example for a client in this package: arm_manip_state_machine.py). It's also maintaining state of manually assisted arm manipulation.

Author:

Zdenek Materna

Definition at line 169 of file arm_manip_node.h.

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Member Enumeration Documentation

anonymous enum

List of possible states of arm manipulation task.

Enumerator:

S_NONE
S_NEW
S_PLAN
S_EXECUTE
S_RESET
S_SUCCESS
S_FAILED
S_REPEAT

Definition at line 196 of file arm_manip_node.h.

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Constructor & Destructor Documentation

srs_assisted_arm_navigation::ManualArmManipActionServer::ManualArmManipActionServer

(

std::string

name

)

[inline]

Constructor of class.

Parameters:

name	Name of the action.

< start of actionlib server

Definition at line 179 of file arm_manip_node.h.

srs_assisted_arm_navigation::ManualArmManipActionServer::~ManualArmManipActionServer

(

void

)

[inline]

Definition at line 192 of file arm_manip_node.h.

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Member Function Documentation

void ManualArmManipActionServer::executeCB

(

const srs_assisted_arm_navigation_msgs::ManualArmManipGoalConstPtr &

goal

)

[protected]

This method maintains state of execution, sends feedback and result of the action. It's used as callback of actionlib server.

Parameters:

goal	Goal of action (pregrasp position / away)

There should appear messagebox in RVIZ and user should start solving task.

Definition at line 33 of file arm_manip_action.cpp.

unsigned int srs_assisted_arm_navigation::ManualArmManipActionServer::get_state

(

)

[inline]

Method for changing state of execution (state, new_state variables).

Definition at line 203 of file arm_manip_node.h.

void ManualArmManipActionServer::setFeedbackFalse

(

)

[protected]

Feedback of

Definition at line 203 of file arm_manip_action.cpp.

void ManualArmManipActionServer::srv_set_state

(

unsigned int

n

)

Definition at line 193 of file arm_manip_action.cpp.

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Member Data Documentation

std::string srs_assisted_arm_navigation::ManualArmManipActionServer::action_name_ [protected]

Definition at line 225 of file arm_manip_node.h.

srs_assisted_arm_navigation_msgs::ManualArmManipActionFeedback srs_assisted_arm_navigation::ManualArmManipActionServer::feedback_ [protected]

Definition at line 226 of file arm_manip_node.h.

bool srs_assisted_arm_navigation::ManualArmManipActionServer::inited_ [protected]

Flag indicating that arm_nav_start was called

Definition at line 232 of file arm_manip_node.h.

unsigned int srs_assisted_arm_navigation::ManualArmManipActionServer::new_state_ [protected]

Variable for holding new state of execution

Definition at line 218 of file arm_manip_node.h.

ros::NodeHandle srs_assisted_arm_navigation::ManualArmManipActionServer::nh_ [protected]

Definition at line 220 of file arm_manip_node.h.

planning_scene_utils::PlanningSceneParameters srs_assisted_arm_navigation::ManualArmManipActionServer::params_ [protected]

Definition at line 234 of file arm_manip_node.h.

srs_assisted_arm_navigation_msgs::ManualArmManipActionResult srs_assisted_arm_navigation::ManualArmManipActionServer::result_ [protected]

Definition at line 227 of file arm_manip_node.h.

actionlib::SimpleActionServer<srs_assisted_arm_navigation_msgs::ManualArmManipAction> srs_assisted_arm_navigation::ManualArmManipActionServer::server_ [protected]

Actionlib server.

Definition at line 224 of file arm_manip_node.h.

ros::Duration srs_assisted_arm_navigation::ManualArmManipActionServer::solve_timeout_

This is timeout between user actions

Definition at line 212 of file arm_manip_node.h.

ros::Time srs_assisted_arm_navigation::ManualArmManipActionServer::start_time_ [protected]

time at which the task was started

Definition at line 229 of file arm_manip_node.h.

ros::Duration srs_assisted_arm_navigation::ManualArmManipActionServer::start_timeout_

Action should start before start_time_ + start_timeout_

Definition at line 211 of file arm_manip_node.h.

unsigned int srs_assisted_arm_navigation::ManualArmManipActionServer::state_ [protected]

Variable for holding current state of execution

Definition at line 217 of file arm_manip_node.h.

ros::Time srs_assisted_arm_navigation::ManualArmManipActionServer::timeout_ [protected]

updated on each user action

Definition at line 230 of file arm_manip_node.h.

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

• arm_manip_node.h
• arm_manip_action.cpp