#include <carl_interactive_manipulation.h>

Public Member Functions
	CarlInteractiveManipulation ()
	Constructor.
void	clearSegmentedObjects ()
	clear all segmented objects from the interactive marker server
void	processHandMarkerFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Process feedback for the interactive marker on the JACO's end effector.
void	processPickupMarkerFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	processRemoveMarkerFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Process feedback for objects that are selected for removal.
void	segmentedObjectsCallback (const rail_manipulation_msgs::SegmentedObjectList::ConstPtr &objectList)
	callback for segmented objects to be displayed
void	updateJoints (const sensor_msgs::JointState::ConstPtr &msg)
	Callback for the joint state listener.
void	updateMarkerPosition ()
	Update the interactive marker on the JACO's end effector to move based on the the current joint state of the arm.
Private Member Functions
void	armCollisionRecovery ()
	If interactive markers cause the arm to be in a dangerous collision, briefly reverse arm motion.
bool	isArmRetracted ()
	Determine if the arm is in the retracted position.
void	makeHandMarker ()
	Create the interactive marker on the JACO's end effector, including pose controls and menus.
bool	removeObjectMarker (int index)
	Remove a manipulation object marker.
void	sendStopCommand ()
	Send a 0 velocity command to the robot's arm.
Private Attributes
actionlib::SimpleActionClient < rail_manipulation_msgs::ArmAction >	acArm
actionlib::SimpleActionClient < rail_manipulation_msgs::GripperAction >	acGripper
actionlib::SimpleActionClient < rail_manipulation_msgs::PickupAction >	acPickup
boost::recursive_mutex	api_mutex
ros::ServiceClient	armAngularPositionClient
ros::ServiceClient	armCartesianPositionClient
ros::ServiceClient	armEStopClient
ros::Publisher	cartesianCmd
ros::ServiceClient	detachObjectsClient
bool	disableArmMarkerCommands
ros::ServiceClient	eraseTrajectoriesClient
boost::shared_ptr < interactive_markers::InteractiveMarkerServer >	imServer
	interactive marker server
ros::ServiceClient	jacoFkClient
	forward kinematics
std::vector< float >	joints
	current joint state
ros::Subscriber	jointStateSubscriber
ros::Time	lastRetractedFeedback
bool	lockPose
	flag to stop the arm from updating on pose changes, this is used to prevent the slight movement when left clicking on the center of the marker
std::vector< float >	markerPose
	current pose of the gripper marker
interactive_markers::MenuHandler	menuHandler
	interactive marker menu handler
bool	movingArm
ros::NodeHandle	n
interactive_markers::MenuHandler	objectMenuHandler
	object interactive markers menu handler
ros::ServiceClient	qeClient
	rotation representation conversion client
std::vector < interactive_markers::MenuHandler >	recognizedMenuHandlers
	list of customized menu handlers for recognized objects
ros::Subscriber	recognizedObjectsSubscriber
ros::ServiceClient	removeObjectClient
std::vector< float >	retractPos
ros::Publisher	safetyErrorPublisher
rail_manipulation_msgs::SegmentedObjectList	segmentedObjectList
	list of segmented objects in the rail_manipulation_msgs form
std::vector < visualization_msgs::InteractiveMarker >	segmentedObjects
	list of segmented objects as interactive markers
bool	usingPickup
bool	usingRecognition

Detailed Description

Definition at line 60 of file carl_interactive_manipulation.h.

Constructor & Destructor Documentation

CarlInteractiveManipulation::CarlInteractiveManipulation ( )

Constructor.

Definition at line 5 of file carl_interactive_manipulation.cpp.

Member Function Documentation

void CarlInteractiveManipulation::armCollisionRecovery ( ) [private]

If interactive markers cause the arm to be in a dangerous collision, briefly reverse arm motion.

Definition at line 554 of file carl_interactive_manipulation.cpp.

void CarlInteractiveManipulation::clearSegmentedObjects ( )

clear all segmented objects from the interactive marker server

Definition at line 198 of file carl_interactive_manipulation.cpp.

bool CarlInteractiveManipulation::isArmRetracted ( ) [private]

Determine if the arm is in the retracted position.

Returns:: true if the arm is retracted, false otherwise

Definition at line 667 of file carl_interactive_manipulation.cpp.

void CarlInteractiveManipulation::makeHandMarker ( ) [private]

Create the interactive marker on the JACO's end effector, including pose controls and menus.

Definition at line 214 of file carl_interactive_manipulation.cpp.

void CarlInteractiveManipulation::processHandMarkerFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

Process feedback for the interactive marker on the JACO's end effector.

Parameters:

feedback interactive marker feedback

Definition at line 378 of file carl_interactive_manipulation.cpp.

void CarlInteractiveManipulation::processPickupMarkerFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

/brief Process feedback for objects that can be recognized.

Parameters:

feedback	interactive marker feedback /brief Process feedback for objects that can be picked up.
feedback	interactive marker feedback

Definition at line 316 of file carl_interactive_manipulation.cpp.

void CarlInteractiveManipulation::processRemoveMarkerFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

Process feedback for objects that are selected for removal.

Parameters:

feedback interactive marker feedback

Definition at line 352 of file carl_interactive_manipulation.cpp.

bool CarlInteractiveManipulation::removeObjectMarker ( int index ) [private]

Remove a manipulation object marker.

Parameters:

index object index

Returns:: true if object was successfully removed

Definition at line 365 of file carl_interactive_manipulation.cpp.

void CarlInteractiveManipulation::segmentedObjectsCallback ( const rail_manipulation_msgs::SegmentedObjectList::ConstPtr & objectList )

callback for segmented objects to be displayed

Parameters:

objectList list of segmented objects for displaying

Definition at line 97 of file carl_interactive_manipulation.cpp.

void CarlInteractiveManipulation::sendStopCommand ( ) [private]

Send a 0 velocity command to the robot's arm.

Definition at line 513 of file carl_interactive_manipulation.cpp.

void CarlInteractiveManipulation::updateJoints ( const sensor_msgs::JointState::ConstPtr & msg )

Callback for the joint state listener.

Parameters:

msg	new joint state message

Definition at line 77 of file carl_interactive_manipulation.cpp.

void CarlInteractiveManipulation::updateMarkerPosition ( )

Update the interactive marker on the JACO's end effector to move based on the the current joint state of the arm.

Definition at line 535 of file carl_interactive_manipulation.cpp.

Member Data Documentation

actionlib::SimpleActionClient<rail_manipulation_msgs::ArmAction> CarlInteractiveManipulation::acArm [private]

Definition at line 167 of file carl_interactive_manipulation.h.

actionlib::SimpleActionClient<rail_manipulation_msgs::GripperAction> CarlInteractiveManipulation::acGripper [private]

Definition at line 166 of file carl_interactive_manipulation.h.

actionlib::SimpleActionClient<rail_manipulation_msgs::PickupAction> CarlInteractiveManipulation::acPickup [private]

Definition at line 168 of file carl_interactive_manipulation.h.

boost::recursive_mutex CarlInteractiveManipulation::api_mutex [private]

Definition at line 171 of file carl_interactive_manipulation.h.

ros::ServiceClient CarlInteractiveManipulation::armAngularPositionClient [private]

Definition at line 155 of file carl_interactive_manipulation.h.

ros::ServiceClient CarlInteractiveManipulation::armCartesianPositionClient [private]

Definition at line 156 of file carl_interactive_manipulation.h.

ros::ServiceClient CarlInteractiveManipulation::armEStopClient [private]

Definition at line 157 of file carl_interactive_manipulation.h.

ros::Publisher CarlInteractiveManipulation::cartesianCmd [private]

Definition at line 149 of file carl_interactive_manipulation.h.

ros::ServiceClient CarlInteractiveManipulation::detachObjectsClient [private]

Definition at line 163 of file carl_interactive_manipulation.h.

bool CarlInteractiveManipulation::disableArmMarkerCommands [private]

Definition at line 183 of file carl_interactive_manipulation.h.

ros::ServiceClient CarlInteractiveManipulation::eraseTrajectoriesClient [private]

Definition at line 158 of file carl_interactive_manipulation.h.

boost::shared_ptr<interactive_markers::InteractiveMarkerServer> CarlInteractiveManipulation::imServer [private]

interactive marker server

Definition at line 172 of file carl_interactive_manipulation.h.

ros::ServiceClient CarlInteractiveManipulation::jacoFkClient [private]

forward kinematics

Definition at line 159 of file carl_interactive_manipulation.h.

std::vector<float> CarlInteractiveManipulation::joints [private]

current joint state

Definition at line 178 of file carl_interactive_manipulation.h.

ros::Subscriber CarlInteractiveManipulation::jointStateSubscriber [private]

Definition at line 151 of file carl_interactive_manipulation.h.

ros::Time CarlInteractiveManipulation::lastRetractedFeedback [private]

Definition at line 186 of file carl_interactive_manipulation.h.

bool CarlInteractiveManipulation::lockPose [private]

flag to stop the arm from updating on pose changes, this is used to prevent the slight movement when left clicking on the center of the marker

Definition at line 181 of file carl_interactive_manipulation.h.

std::vector<float> CarlInteractiveManipulation::markerPose [private]

current pose of the gripper marker

Definition at line 179 of file carl_interactive_manipulation.h.

interactive_markers::MenuHandler CarlInteractiveManipulation::menuHandler [private]

interactive marker menu handler

Definition at line 173 of file carl_interactive_manipulation.h.

bool CarlInteractiveManipulation::movingArm [private]

Definition at line 182 of file carl_interactive_manipulation.h.

ros::NodeHandle CarlInteractiveManipulation::n [private]

Definition at line 146 of file carl_interactive_manipulation.h.

interactive_markers::MenuHandler CarlInteractiveManipulation::objectMenuHandler [private]

object interactive markers menu handler

Definition at line 174 of file carl_interactive_manipulation.h.

ros::ServiceClient CarlInteractiveManipulation::qeClient [private]

rotation representation conversion client

Definition at line 160 of file carl_interactive_manipulation.h.

std::vector<interactive_markers::MenuHandler> CarlInteractiveManipulation::recognizedMenuHandlers [private]

list of customized menu handlers for recognized objects

Definition at line 175 of file carl_interactive_manipulation.h.

ros::Subscriber CarlInteractiveManipulation::recognizedObjectsSubscriber [private]

Definition at line 152 of file carl_interactive_manipulation.h.

ros::ServiceClient CarlInteractiveManipulation::removeObjectClient [private]

Definition at line 162 of file carl_interactive_manipulation.h.

std::vector<float> CarlInteractiveManipulation::retractPos [private]

Definition at line 180 of file carl_interactive_manipulation.h.

ros::Publisher CarlInteractiveManipulation::safetyErrorPublisher [private]

Definition at line 150 of file carl_interactive_manipulation.h.

rail_manipulation_msgs::SegmentedObjectList CarlInteractiveManipulation::segmentedObjectList [private]

list of segmented objects in the rail_manipulation_msgs form

Definition at line 177 of file carl_interactive_manipulation.h.

std::vector<visualization_msgs::InteractiveMarker> CarlInteractiveManipulation::segmentedObjects [private]

list of segmented objects as interactive markers

Definition at line 176 of file carl_interactive_manipulation.h.

bool CarlInteractiveManipulation::usingPickup [private]

Definition at line 184 of file carl_interactive_manipulation.h.

bool CarlInteractiveManipulation::usingRecognition [private]

Definition at line 185 of file carl_interactive_manipulation.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation