#include <urdf_model_marker.h>

Classes
struct	graspPoint
struct	linkProperty
Public Member Functions
void	addChildLinkNames (LinkConstSharedPtr link, bool root, bool init)
void	addChildLinkNames (LinkConstSharedPtr link, bool root, bool init, bool use_color, int color_index)
void	addGraspPointControl (visualization_msgs::InteractiveMarker &int_marker, std::string link_frame_name_)
void	addInvisibleMeshMarkerControl (visualization_msgs::InteractiveMarker &int_marker, LinkConstSharedPtr link, const std_msgs::ColorRGBA &color)
void	addMoveMarkerControl (visualization_msgs::InteractiveMarker &int_marker, LinkConstSharedPtr link, bool root)
void	callPublishTf ()
void	callSetDynamicTf (string parent_frame_id, string frame_id, geometry_msgs::Transform transform)
void	getJointState ()
void	getJointState (LinkConstSharedPtr link)
geometry_msgs::PoseStamped	getOriginPoseStamped ()
geometry_msgs::Pose	getRootPose (geometry_msgs::Pose pose)
void	graspPoint_feedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, string link_name)
void	graspPointCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	hideAllMarkerCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	hideMarkerCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	hideModelMarkerCB (const std_msgs::EmptyConstPtr &msg)
void	jointMoveCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
bool	lockJointStates (std_srvs::EmptyRequest &req, std_srvs::EmptyRequest &res)
int	main (string file)
visualization_msgs::InteractiveMarkerControl	makeBoxMarkerControl (const geometry_msgs::PoseStamped &stamped, Vector3 dim, const std_msgs::ColorRGBA &color, bool use_color)
visualization_msgs::InteractiveMarkerControl	makeCylinderMarkerControl (const geometry_msgs::PoseStamped &stamped, double length, double radius, const std_msgs::ColorRGBA &color, bool use_color)
visualization_msgs::InteractiveMarkerControl	makeMeshMarkerControl (const std::string &mesh_resource, const geometry_msgs::PoseStamped &stamped, geometry_msgs::Vector3 scale, const std_msgs::ColorRGBA &color, bool use_color)
visualization_msgs::InteractiveMarkerControl	makeMeshMarkerControl (const std::string &mesh_resource, const geometry_msgs::PoseStamped &stamped, geometry_msgs::Vector3 scale)
visualization_msgs::InteractiveMarkerControl	makeMeshMarkerControl (const std::string &mesh_resource, const geometry_msgs::PoseStamped &stamped, geometry_msgs::Vector3 scale, const std_msgs::ColorRGBA &color)
visualization_msgs::InteractiveMarkerControl	makeSphereMarkerControl (const geometry_msgs::PoseStamped &stamped, double rad, const std_msgs::ColorRGBA &color, bool use_color)
void	moveCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	proc_feedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, string parent_frame_id, string frame_id)
void	publishBasePose (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	publishBasePose (geometry_msgs::Pose pose, std_msgs::Header header)
void	publishJointState (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	publishJointState ()
void	publishMarkerMenu (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, int menu)
void	publishMarkerPose (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	publishMarkerPose (geometry_msgs::Pose pose, std_msgs::Header header, std::string marker_name)
void	publishMoveObject (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	registrationCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	republishJointState (sensor_msgs::JointState js)
void	resetBaseCB ()
void	resetBaseMarkerCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	resetBaseMsgCB (const std_msgs::EmptyConstPtr &msg)
void	resetJointStatesCB (const sensor_msgs::JointStateConstPtr &msg, bool update_root)
void	resetMarkerCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	resetRobotBase ()
void	resetRootForVisualization ()
void	setJointAngle (LinkConstSharedPtr link, double joint_angle)
void	setJointState (LinkConstSharedPtr link, const sensor_msgs::JointStateConstPtr &js)
void	setOriginalPose (LinkConstSharedPtr link)
void	setPoseCB ()
void	setPoseCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	setRootPose (geometry_msgs::PoseStamped ps)
void	setRootPoseCB (const geometry_msgs::PoseStampedConstPtr &msg)
void	setUrdfCB (const std_msgs::StringConstPtr &msg)
void	showModelMarkerCB (const std_msgs::EmptyConstPtr &msg)
bool	unlockJointStates (std_srvs::EmptyRequest &req, std_srvs::EmptyRequest &res)
void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
	UrdfModelMarker (string file, std::shared_ptr< interactive_markers::InteractiveMarkerServer > server)
	UrdfModelMarker (string model_name, string model_description, string model_file, string frame_id, geometry_msgs::PoseStamped root_pose, geometry_msgs::Pose root_offset, double scale_factor, string mode, bool robot_mode, bool registration, vector< string > fixed_link, bool use_robot_description, bool use_visible_color, map< string, double > initial_pose_map, int index, std::shared_ptr< interactive_markers::InteractiveMarkerServer > server)
	UrdfModelMarker ()
Protected Attributes
std::string	base_frame
std::shared_ptr < diagnostic_updater::Updater >	diagnostic_updater_
jsk_topic_tools::TimeAccumulator	dynamic_tf_check_time_acc_
ros::ServiceClient	dynamic_tf_publisher_client
ros::ServiceClient	dynamic_tf_publisher_publish_tf_client
vector< string >	fixed_link_
geometry_msgs::Pose	fixed_link_offset_
std::string	frame_id_
ros::Subscriber	hide_marker_
int	index_
ros::Time	init_stamp_
map< string, double >	initial_pose_map_
bool	is_joint_states_locked_
sensor_msgs::JointState	joint_state_
sensor_msgs::JointState	joint_state_origin_
boost::mutex	joint_states_mutex_
map< string, linkProperty >	linkMarkerMap
string	mode_
ModelInterfaceSharedPtr	model
std::string	model_description_
std::string	model_file_
interactive_markers::MenuHandler	model_menu_
std::string	model_name_
std::string	move_base_frame
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
ros::Publisher	pub_
ros::Publisher	pub_base_pose_
ros::Publisher	pub_joint_state_
ros::Publisher	pub_move_
ros::Publisher	pub_move_model_
ros::Publisher	pub_move_object_
ros::Publisher	pub_selected_
ros::Publisher	pub_selected_index_
bool	registration_
jsk_topic_tools::TimeAccumulator	reset_joint_states_check_time_acc_
bool	robot_mode_
geometry_msgs::Pose	root_offset_
geometry_msgs::Pose	root_pose_
geometry_msgs::Pose	root_pose_origin_
double	scale_factor_
ros::ServiceServer	serv_lock_joint_states_
ros::ServiceServer	serv_markers_del_
ros::ServiceServer	serv_markers_set_
ros::ServiceServer	serv_reset_
ros::ServiceServer	serv_set_
ros::ServiceServer	serv_unlock_joint_states_
std::shared_ptr < interactive_markers::InteractiveMarkerServer >	server_
std::string	server_name
ros::Subscriber	show_marker_
ros::Subscriber	sub_reset_joints_
ros::Subscriber	sub_reset_joints_and_root_
ros::Subscriber	sub_set_root_pose_
ros::Subscriber	sub_set_urdf_
std::string	target_frame
std::string	tf_prefix_
tf::TransformBroadcaster	tfb_
tf::TransformListener	tfl_
bool	use_dynamic_tf_
bool	use_robot_description_
bool	use_visible_color_

Detailed Description

Definition at line 54 of file urdf_model_marker.h.

Constructor & Destructor Documentation

UrdfModelMarker::UrdfModelMarker	(	string	file,
		std::shared_ptr< interactive_markers::InteractiveMarkerServer >	server
	)

UrdfModelMarker::UrdfModelMarker	(	string	model_name,
		string	model_description,
		string	model_file,
		string	frame_id,
		geometry_msgs::PoseStamped	root_pose,
		geometry_msgs::Pose	root_offset,
		double	scale_factor,
		string	mode,
		bool	robot_mode,
		bool	registration,
		vector< string >	fixed_link,
		bool	use_robot_description,
		bool	use_visible_color,
		map< string, double >	initial_pose_map,
		int	index,
		std::shared_ptr< interactive_markers::InteractiveMarkerServer >	server
	)

Definition at line 1180 of file urdf_model_marker.cpp.

UrdfModelMarker::UrdfModelMarker ( )

Definition at line 1177 of file urdf_model_marker.cpp.

Member Function Documentation

void UrdfModelMarker::addChildLinkNames	(	LinkConstSharedPtr	link,
		bool	root,
		bool	init
	)

Definition at line 912 of file urdf_model_marker.cpp.

void UrdfModelMarker::addChildLinkNames	(	LinkConstSharedPtr	link,
		bool	root,
		bool	init,
		bool	use_color,
		int	color_index
	)

Definition at line 917 of file urdf_model_marker.cpp.

void UrdfModelMarker::addGraspPointControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		std::string	link_frame_name_
	)

Definition at line 91 of file urdf_model_marker.cpp.

void UrdfModelMarker::addInvisibleMeshMarkerControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		LinkConstSharedPtr	link,
		const std_msgs::ColorRGBA &	color
	)

Definition at line 57 of file urdf_model_marker.cpp.

void UrdfModelMarker::addMoveMarkerControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		LinkConstSharedPtr	link,
		bool	root
	)

Definition at line 19 of file urdf_model_marker.cpp.

void UrdfModelMarker::callPublishTf ( )

Definition at line 132 of file urdf_model_marker.cpp.

void UrdfModelMarker::callSetDynamicTf	(	string	parent_frame_id,
		string	frame_id,
		geometry_msgs::Transform	transform
	)

Definition at line 116 of file urdf_model_marker.cpp.

void UrdfModelMarker::getJointState ( )

Definition at line 640 of file urdf_model_marker.cpp.

void UrdfModelMarker::getJointState ( LinkConstSharedPtr link )

Definition at line 647 of file urdf_model_marker.cpp.

geometry_msgs::PoseStamped UrdfModelMarker::getOriginPoseStamped ( )

Definition at line 886 of file urdf_model_marker.cpp.

geometry_msgs::Pose UrdfModelMarker::getRootPose ( geometry_msgs::Pose pose )

Definition at line 877 of file urdf_model_marker.cpp.

void UrdfModelMarker::graspPoint_feedback	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		string	link_name
	)

Definition at line 530 of file urdf_model_marker.cpp.

void UrdfModelMarker::graspPointCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

Definition at line 282 of file urdf_model_marker.cpp.

void UrdfModelMarker::hideAllMarkerCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

Definition at line 481 of file urdf_model_marker.cpp.

void UrdfModelMarker::hideMarkerCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

Definition at line 476 of file urdf_model_marker.cpp.

void UrdfModelMarker::hideModelMarkerCB ( const std_msgs::EmptyConstPtr & msg )

Definition at line 491 of file urdf_model_marker.cpp.

void UrdfModelMarker::jointMoveCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

Definition at line 306 of file urdf_model_marker.cpp.

bool UrdfModelMarker::lockJointStates	(	std_srvs::EmptyRequest &	req,
		std_srvs::EmptyRequest &	res
	)

Definition at line 1392 of file urdf_model_marker.cpp.

int UrdfModelMarker::main ( string file )

visualization_msgs::InteractiveMarkerControl UrdfModelMarker::makeBoxMarkerControl	(	const geometry_msgs::PoseStamped &	stamped,
		Vector3	dim,
		const std_msgs::ColorRGBA &	color,
		bool	use_color
	)

Definition at line 598 of file urdf_model_marker.cpp.

visualization_msgs::InteractiveMarkerControl UrdfModelMarker::makeCylinderMarkerControl	(	const geometry_msgs::PoseStamped &	stamped,
		double	length,
		double	radius,
		const std_msgs::ColorRGBA &	color,
		bool	use_color
	)

Definition at line 580 of file urdf_model_marker.cpp.

visualization_msgs::InteractiveMarkerControl UrdfModelMarker::makeMeshMarkerControl	(	const std::string &	mesh_resource,
		const geometry_msgs::PoseStamped &	stamped,
		geometry_msgs::Vector3	scale,
		const std_msgs::ColorRGBA &	color,
		bool	use_color
	)

Definition at line 544 of file urdf_model_marker.cpp.

visualization_msgs::InteractiveMarkerControl UrdfModelMarker::makeMeshMarkerControl	(	const std::string &	mesh_resource,
		const geometry_msgs::PoseStamped &	stamped,
		geometry_msgs::Vector3	scale
	)

Definition at line 562 of file urdf_model_marker.cpp.

visualization_msgs::InteractiveMarkerControl UrdfModelMarker::makeMeshMarkerControl	(	const std::string &	mesh_resource,
		const geometry_msgs::PoseStamped &	stamped,
		geometry_msgs::Vector3	scale,
		const std_msgs::ColorRGBA &	color
	)

Definition at line 574 of file urdf_model_marker.cpp.

visualization_msgs::InteractiveMarkerControl UrdfModelMarker::makeSphereMarkerControl	(	const geometry_msgs::PoseStamped &	stamped,
		double	rad,
		const std_msgs::ColorRGBA &	color,
		bool	use_color
	)