#include <play_motion.h>

Classes
class	Goal
Public Types
typedef boost::shared_ptr< Goal >	GoalHandle
Public Member Functions
	PlayMotion (ros::NodeHandle &nh)
bool	run (const std::string &motion_name, bool skip_planning, GoalHandle &gh, const Callback &cb)
	Send motion goal request.
Private Types
typedef boost::shared_ptr < ApproachPlanner >	ApproachPlannerPtr
typedef boost::function< void(const GoalHandle &)>	Callback
typedef std::list < MoveJointGroupPtr >	ControllerList
typedef boost::shared_ptr < MoveJointGroup >	MoveJointGroupPtr
Private Member Functions
bool	getGroupTraj (MoveJointGroupPtr move_joint_group, const JointNames &motion_joints, const Trajectory &motion_points, Trajectory &traj_group)
ControllerList	getMotionControllers (const JointNames &motion_joints)
	Populate a list of controllers that span the motion joints.
void	getMotionJoints (const std::string &motion_name, JointNames &motion_joints)
void	getMotionPoints (const std::string &motion_name, Trajectory &motion_points)
void	jointStateCb (const sensor_msgs::JointStatePtr &msg)
void	updateControllersCb (const ControllerUpdater::ControllerStates &states, const ControllerUpdater::ControllerJoints &joints)
Private Attributes
ApproachPlannerPtr	approach_planner_
ControllerUpdater	ctrlr_updater_
std::map< std::string, double >	joint_states_
ros::Subscriber	joint_states_sub_
ControllerList	move_joint_groups_
ros::NodeHandle	nh_

Detailed Description

Move robot joints to a given pose. Poses are specified in the parameter server, and are identified by name.

Definition at line 78 of file play_motion.h.

Member Typedef Documentation

typedef boost::shared_ptr<ApproachPlanner> play_motion::PlayMotion::ApproachPlannerPtr [private]

Definition at line 87 of file play_motion.h.

typedef boost::function<void(const GoalHandle&)> play_motion::PlayMotion::Callback [private]

Definition at line 86 of file play_motion.h.

typedef std::list<MoveJointGroupPtr> play_motion::PlayMotion::ControllerList [private]

Definition at line 85 of file play_motion.h.

typedef boost::shared_ptr<Goal> play_motion::PlayMotion::GoalHandle

Definition at line 81 of file play_motion.h.

typedef boost::shared_ptr<MoveJointGroup> play_motion::PlayMotion::MoveJointGroupPtr [private]

Definition at line 84 of file play_motion.h.

Constructor & Destructor Documentation

play_motion::PlayMotion::PlayMotion ( ros::NodeHandle & nh )

Definition at line 133 of file play_motion.cpp.

Member Function Documentation

bool play_motion::PlayMotion::getGroupTraj	(	MoveJointGroupPtr	move_joint_group,
		const JointNames &	motion_joints,
		const Trajectory &	motion_points,
		Trajectory &	traj_group
	)		`[private]`

Definition at line 189 of file play_motion.cpp.

ControllerList play_motion::PlayMotion::getMotionControllers ( const JointNames & motion_joints ) [private]

Populate a list of controllers that span the motion joints.

In the general case, the controllers will span more than the motion joints, but never less. This method also validates that the controllers are not busy executing another goal.

Parameters:

motion_joints List of motion joints.

Returns:: A list of controllers that span (at least) all the motion joints.

Exceptions:

PMException if no controllers spanning the motion joints were found, or if some of them are busy.

Definition at line 287 of file play_motion.cpp.

void play_motion::PlayMotion::getMotionJoints	(	const std::string &	motion_name,
		JointNames &	motion_joints
	)		`[private]`

Definition at line 247 of file play_motion.cpp.

void play_motion::PlayMotion::getMotionPoints	(	const std::string &	motion_name,
		Trajectory &	motion_points
	)		`[private]`

Definition at line 267 of file play_motion.cpp.

void play_motion::PlayMotion::jointStateCb ( const sensor_msgs::JointStatePtr & msg ) [private]

Definition at line 182 of file play_motion.cpp.

bool play_motion::PlayMotion::run	(	const std::string &	motion_name,
		bool	skip_planning,
		GoalHandle &	gh,
		const Callback &	cb
	)

Send motion goal request.

Parameters:

	motion_name	Name of motion to execute.
	skip_planning	Skip motion planning for computing the approach trajectory.
[out]	goal_id	contains the goal ID if function returns true

Definition at line 318 of file play_motion.cpp.

void play_motion::PlayMotion::updateControllersCb	(	const ControllerUpdater::ControllerStates &	states,
		const ControllerUpdater::ControllerJoints &	joints
	)		`[private]`