#include <obstacle_distance_moveit.h>

Public Member Functions
	ObstacleDistanceMoveit ()
Private Member Functions
bool	calculateDistanceServiceCallback (cob_control_msgs::GetObstacleDistance::Request &req, cob_control_msgs::GetObstacleDistance::Response &res)
void	calculateDistanceTimerCallback (const ros::TimerEvent &event)
cob_control_msgs::ObstacleDistance	getDistanceInfo (const boost::shared_ptr< fcl::CollisionObject > object_a, const boost::shared_ptr< fcl::CollisionObject > object_b)
bool	planningSceneCallback (moveit_msgs::GetPlanningScene::Request &req, moveit_msgs::GetPlanningScene::Response &res)
void	planningSceneTimerCallback (const ros::TimerEvent &event)
bool	registerCallback (cob_srvs::SetString::Request &req, cob_srvs::SetString::Response &res)
bool	unregisterCallback (cob_srvs::SetString::Request &req, cob_srvs::SetString::Response &res)
void	updatedScene (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType type)
Private Attributes
collision_detection::AllowedCollisionMatrix	acm_
ros::ServiceServer	calculate_obstacle_distance_
std::map< std::string, boost::shared_ptr < fcl::CollisionObject > >	collision_objects_
ros::Publisher	distance_pub_
ros::Timer	distance_timer_
float	MAXIMAL_MINIMAL_DISTANCE
ros::Publisher	monitored_scene_pub_
ros::ServiceServer	monitored_scene_server_
ros::NodeHandle	nh_
planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_
ros::Timer	planning_scene_timer_
ros::ServiceServer	register_server_
std::set< std::string >	registered_links_
boost::mutex	registered_links_mutex_
std::map< std::string, boost::shared_ptr < fcl::CollisionObject > >	robot_links_
ros::ServiceServer	unregister_server_

Detailed Description

Definition at line 40 of file obstacle_distance_moveit.h.

Constructor & Destructor Documentation

ObstacleDistanceMoveit::ObstacleDistanceMoveit ( )

Definition at line 356 of file obstacle_distance_moveit.cpp.

Member Function Documentation

bool ObstacleDistanceMoveit::calculateDistanceServiceCallback	(	cob_control_msgs::GetObstacleDistance::Request &	req,
		cob_control_msgs::GetObstacleDistance::Response &	res
	)		`[private]`

Definition at line 219 of file obstacle_distance_moveit.cpp.

void ObstacleDistanceMoveit::calculateDistanceTimerCallback ( const ros::TimerEvent & event ) [private]

Definition at line 130 of file obstacle_distance_moveit.cpp.

cob_control_msgs::ObstacleDistance ObstacleDistanceMoveit::getDistanceInfo	(	const boost::shared_ptr< fcl::CollisionObject >	object_a,
		const boost::shared_ptr< fcl::CollisionObject >	object_b
	)		`[private]`

Definition at line 263 of file obstacle_distance_moveit.cpp.

bool ObstacleDistanceMoveit::planningSceneCallback	(	moveit_msgs::GetPlanningScene::Request &	req,
		moveit_msgs::GetPlanningScene::Response &	res
	)		`[private]`