Namespaces
namespace	InteractionStyle
Classes
struct	EndEffectorInteraction
struct	GenericInteraction
class	InteractionHandler
struct	JointInteraction
struct	KinematicOptions
class	KinematicOptionsMap
class	LockedRobotState
	Maintain a RobotState in a multithreaded environment. More...
class	RobotInteraction
Typedefs
typedef boost::function< void(InteractionHandler *, bool)	InteractionHandlerCallbackFn )
typedef boost::shared_ptr < const InteractionHandler >	InteractionHandlerConstPtr
typedef boost::shared_ptr < InteractionHandler >	InteractionHandlerPtr
typedef boost::function< bool(const robot_state::RobotState &state, visualization_msgs::InteractiveMarker &marker)>	InteractiveMarkerConstructorFn
typedef boost::function< bool(const robot_state::RobotState &, geometry_msgs::Pose &)>	InteractiveMarkerUpdateFn
typedef boost::shared_ptr < KinematicOptionsMap >	KinematicOptionsMapPtr
typedef boost::shared_ptr < const LockedRobotState >	LockedRobotStateConstPtr
typedef boost::shared_ptr < LockedRobotState >	LockedRobotStatePtr
typedef boost::function< bool(robot_state::RobotState &state, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)>	ProcessFeedbackFn
typedef boost::shared_ptr < const RobotInteraction >	RobotInteractionConstPtr
typedef boost::shared_ptr < RobotInteraction >	RobotInteractionPtr
Functions
void	add6DOFControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addErrorMarker (visualization_msgs::InteractiveMarker &im)
void	addOrientationControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addPlanarXYControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addPositionControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addTArrowMarker (visualization_msgs::InteractiveMarker &im)
void	addViewPlaneControl (visualization_msgs::InteractiveMarker &int_marker, double radius, const std_msgs::ColorRGBA &color, bool position=true, bool orientation=true)
static std::string	getMarkerName (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef)
static std::string	getMarkerName (const ::robot_interaction::InteractionHandlerPtr &handler, const JointInteraction &vj)
static std::string	getMarkerName (const ::robot_interaction::InteractionHandlerPtr &handler, const GenericInteraction &g)
visualization_msgs::InteractiveMarker	make6DOFMarker (const std::string &name, const geometry_msgs::PoseStamped &stamped, double scale, bool orientation_fixed=false)
visualization_msgs::InteractiveMarker	makeEmptyInteractiveMarker (const std::string &name, const geometry_msgs::PoseStamped &stamped, double scale)
visualization_msgs::InteractiveMarker	makePlanarXYMarker (const std::string &name, const geometry_msgs::PoseStamped &stamped, double scale, bool orientation_fixed=false)
Variables
static const float	END_EFFECTOR_REACHABLE_COLOR [4] = { 0.2, 1.0, 0.2, 1.0 }
static const float	END_EFFECTOR_UNREACHABLE_COLOR [4] = { 1.0, 0.3, 0.3, 1.0 }

Typedef Documentation

typedef boost::function<void(InteractionHandler*, bool) robot_interaction::InteractionHandlerCallbackFn)

Function type for notifying client of RobotState changes.

This callback function is called by the InteractionHandler::handle* functions, when changes are made to the internal robot state the handler maintains. The handler passes its own pointer as argument to the callback, as well as a boolean flag that indicates whether the error state changed -- whether updates to the robot state performed in the InteractionHandler::handle* functions have switched from failing to succeeding or the other way around.

Definition at line 61 of file interaction_handler.h.

typedef boost::shared_ptr<const InteractionHandler> robot_interaction::InteractionHandlerConstPtr

Definition at line 51 of file interaction_handler.h.

typedef boost::shared_ptr< InteractionHandler > robot_interaction::InteractionHandlerPtr

Definition at line 49 of file interaction_handler.h.

typedef boost::function<bool( const robot_state::RobotState& state, visualization_msgs::InteractiveMarker& marker)> robot_interaction::InteractiveMarkerConstructorFn

Type of function for constructing markers. This callback sets up the marker used for an interaction.

Parameters:

state	the current state of the robot
marker	the function should fill this in with an InteractiveMarker that will be used to control the interaction.

Returns:: true if the function succeeds, false if the function was not able to fill in marker.

Definition at line 102 of file interaction.h.

typedef boost::function<bool( const robot_state::RobotState&, geometry_msgs::Pose&)> robot_interaction::InteractiveMarkerUpdateFn

Type of function for updating marker pose for new state. This callback is called when the robot state has changed. Callback should calculate a new pose for the marker based on the passed in robot state.

Parameters:

state	the new state of the robot
pose	the function should fill this in with the new pose of the marker, given the new state of the robot.

Returns:: true if the pose was modified, false if no update is needed (i.e. if the pose did not change).

Definition at line 132 of file interaction.h.

typedef boost::shared_ptr< KinematicOptionsMap > robot_interaction::KinematicOptionsMapPtr

Definition at line 56 of file interaction_handler.h.

typedef boost::shared_ptr<const LockedRobotState> robot_interaction::LockedRobotStateConstPtr

Definition at line 111 of file locked_robot_state.h.

typedef boost::shared_ptr<LockedRobotState> robot_interaction::LockedRobotStatePtr

Definition at line 110 of file locked_robot_state.h.

typedef boost::function<bool( robot_state::RobotState& state, const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback)> robot_interaction::ProcessFeedbackFn

Type of function for processing marker feedback. This callback function handles feedback for an Interaction's marker. Callback should update the robot state that was passed in according to the new position of the marker.

Parameters:

state	the current state of the robot
marker	the function should fill this in with an InteractiveMarker that will be used to control the interaction.

Returns:: false if the state was not successfully updated or the new state is somehow invalid or erronious (e.g. in collision). true if everything worked well.

Definition at line 118 of file interaction.h.

typedef boost::shared_ptr<const RobotInteraction> robot_interaction::RobotInteractionConstPtr

Definition at line 310 of file robot_interaction.h.

typedef boost::shared_ptr< RobotInteraction > robot_interaction::RobotInteractionPtr

Definition at line 53 of file interaction_handler.h.

Function Documentation

void robot_interaction::add6DOFControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = `false`
	)

Definition at line 168 of file interactive_marker_helpers.cpp.

void robot_interaction::addErrorMarker ( visualization_msgs::InteractiveMarker & im )

Definition at line 111 of file interactive_marker_helpers.cpp.

void robot_interaction::addOrientationControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = `false`
	)

Definition at line 174 of file interactive_marker_helpers.cpp.

void robot_interaction::addPlanarXYControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = `false`
	)

Definition at line 140 of file interactive_marker_helpers.cpp.

void robot_interaction::addPositionControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = `false`
	)

Definition at line 202 of file interactive_marker_helpers.cpp.

void robot_interaction::addTArrowMarker ( visualization_msgs::InteractiveMarker & im )

Definition at line 57 of file interactive_marker_helpers.cpp.

void robot_interaction::addViewPlaneControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		double	radius,
		const std_msgs::ColorRGBA &	color,
		bool	position = `true`,
		bool	orientation = `true`
	)

Definition at line 230 of file interactive_marker_helpers.cpp.

static std::string robot_interaction::getMarkerName	(	const ::robot_interaction::InteractionHandlerPtr &	handler,
		const EndEffectorInteraction &	eef
	)		`[inline, static]`

Definition at line 426 of file robot_interaction.cpp.

static std::string robot_interaction::getMarkerName	(	const ::robot_interaction::InteractionHandlerPtr &	handler,
		const JointInteraction &	vj
	)		`[inline, static]`

Definition at line 433 of file robot_interaction.cpp.

static std::string robot_interaction::getMarkerName	(	const ::robot_interaction::InteractionHandlerPtr &	handler,
		const GenericInteraction &	g
	)		`[inline, static]`

Definition at line 440 of file robot_interaction.cpp.

visualization_msgs::InteractiveMarker robot_interaction::make6DOFMarker	(	const std::string &	name,
		const geometry_msgs::PoseStamped &	stamped,
		double	scale,
		bool	orientation_fixed = `false`
	)

Definition at line 267 of file interactive_marker_helpers.cpp.

visualization_msgs::InteractiveMarker robot_interaction::makeEmptyInteractiveMarker	(	const std::string &	name,
		const geometry_msgs::PoseStamped &	stamped,
		double	scale
	)

Definition at line 45 of file interactive_marker_helpers.cpp.

visualization_msgs::InteractiveMarker robot_interaction::makePlanarXYMarker	(	const std::string &	name,
		const geometry_msgs::PoseStamped &	stamped,
		double	scale,
		bool	orientation_fixed = `false`
	)

Definition at line 257 of file interactive_marker_helpers.cpp.

Variable Documentation

const float robot_interaction::END_EFFECTOR_REACHABLE_COLOR[4] = { 0.2, 1.0, 0.2, 1.0 } [static]

Definition at line 61 of file robot_interaction.cpp.

const float robot_interaction::END_EFFECTOR_UNREACHABLE_COLOR[4] = { 1.0, 0.3, 0.3, 1.0 } [static]

Definition at line 60 of file robot_interaction.cpp.

Namespaces

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation