Namespaces
namespace	move_joint
Classes
class	ApproachPlanner
	TODO. More...
class	ControllerUpdater
struct	MotionInfo
class	MoveJointGroup
class	PlayMotion
class	PlayMotionServer
class	PMException
Typedefs
typedef std::vector< std::string >	JointNames
typedef std::vector< std::string >	MotionNames
typedef play_motion_msgs::PlayMotionResult	PMR
typedef std::vector< TrajPoint >	Trajectory
typedef trajectory_msgs::JointTrajectoryPoint	TrajPoint
Functions
void	extractJoints (xh::Array &joint_names, JointNames &motion_joints)
void	extractTrajectory (xh::Array &traj_points, Trajectory &motion_points)
void	getMotion (const ros::NodeHandle &nh, const std::string &motion_id, MotionInfo &motion_info)
	Parse a motion specified in the ROS parameter server into a data structure.
void	getMotion (const std::string &motion_id, MotionInfo &motion_info)
ros::Duration	getMotionDuration (const ros::NodeHandle &nh, const std::string &motion_id)
	getMotionDuration gets the total duration of a motion
ros::Duration	getMotionDuration (const std::string &motion_id)
void	getMotionIds (const ros::NodeHandle &nh, MotionNames &motion_ids)
	getMotions obtain all motion names
void	getMotionIds (MotionNames &motion_ids)
void	getMotionJoints (const ros::NodeHandle &nh, const std::string &motion_id, JointNames &motion_joints)
void	getMotionJoints (const std::string &motion_id, JointNames &motion_joints)
void	getMotionPoints (const ros::NodeHandle &nh, const std::string &motion_id, Trajectory &motion_points)
void	getMotionPoints (const std::string &motion_id, Trajectory &motion_points)
ros::NodeHandle	getMotionsNodeHandle (const ros::NodeHandle &nh)
static ros::ServiceClient	initCmClient (ros::NodeHandle nh)
bool	isAlreadyThere (const JointNames &target_joints, const TrajPoint &target_point, const JointNames &source_joints, const TrajPoint &source_point, double tolerance=0.15)
	isAlreadyThere checks if the source trajPoint matches the target trajPoint with a certain tolerance only the joints in targetJoint will be checked
static bool	isJointTrajectoryController (const std::string &name)
bool	motionExists (const ros::NodeHandle &nh, const std::string &motion_id)
bool	motionExists (const std::string &motion_id)
void	populateVelocities (const TrajPoint &point_prev, const TrajPoint &point_next, TrajPoint &point_curr)
	Populate joint velocity information of a trajectory waypoint.
void	populateVelocities (const Trajectory &traj_in, Trajectory &traj_out)
	Populate joint velocity information of a trajectory.

Detailed Description

Author:: Paul Mathieu.; Adolfo Rodriguez Tsouroukdissian.; Paul Mathieu.

Typedef Documentation

typedef std::vector<std::string> play_motion::JointNames

Definition at line 48 of file datatypes.h.

typedef std::vector<std::string> play_motion::MotionNames

Definition at line 47 of file datatypes.h.

typedef play_motion_msgs::PlayMotionResult play_motion::PMR

Definition at line 56 of file play_motion.h.

typedef std::vector<TrajPoint> play_motion::Trajectory

Definition at line 50 of file datatypes.h.

typedef trajectory_msgs::JointTrajectoryPoint play_motion::TrajPoint

Definition at line 49 of file datatypes.h.

Function Documentation

void play_motion::extractJoints	(	xh::Array &	joint_names,
		JointNames &	motion_joints
	)

Definition at line 84 of file play_motion_helpers.cpp.

void play_motion::extractTrajectory	(	xh::Array &	traj_points,
		Trajectory &	motion_points
	)

Definition at line 53 of file play_motion_helpers.cpp.

void play_motion::getMotion	(	const ros::NodeHandle &	nh,
		const std::string &	motion_id,
		MotionInfo &	motion_info
	)

Parse a motion specified in the ROS parameter server into a data structure.

Parameters:

[in]	nh	Nodehandle with the namespace containing the motions (When omitted, defaults to ros::NodeHandle nh("play_motion"))
[in]	motion_id	Motion identifier
[out]	motionInfo	Data structure containing parsed motion

Exceptions:

ros::Exception if the motion does not exist or is malformed.

Definition at line 257 of file play_motion_helpers.cpp.

void play_motion::getMotion	(	const std::string &	motion_id,
		MotionInfo &	motion_info
	)

Definition at line 286 of file play_motion_helpers.cpp.

ros::Duration play_motion::getMotionDuration	(	const ros::NodeHandle &	nh,
		const std::string &	motion_id
	)

getMotionDuration gets the total duration of a motion

Exceptions:

xh::XmlrpcHelperException if motion_id cannot be found

Definition at line 198 of file play_motion_helpers.cpp.

ros::Duration play_motion::getMotionDuration ( const std::string & motion_id )

Definition at line 206 of file play_motion_helpers.cpp.

void play_motion::getMotionIds	(	const ros::NodeHandle &	nh,
		MotionNames &	motion_ids
	)

getMotions obtain all motion names

Parameters:

nh	Nodehandle with the namespace containing the motions (When omitted, defaults to ros::NodeHandle nh("play_motion"))

Exceptions:

xh::XmlrpcHelperException if no motions available

Definition at line 120 of file play_motion_helpers.cpp.

void play_motion::getMotionIds ( MotionNames & motion_ids )

Definition at line 131 of file play_motion_helpers.cpp.

void play_motion::getMotionJoints	(	const ros::NodeHandle &	nh,
		const std::string &	motion_id,
		JointNames &	motion_joints
	)

Parameters:

nh	Nodehandle with the namespace containing the motions (When omitted, defaults to ros::NodeHandle nh("play_motion"))

Exceptions:

xh::XmlrpcHelperException if motion_id cannot be found

Definition at line 92 of file play_motion_helpers.cpp.

void play_motion::getMotionJoints	(	const std::string &	motion_id,
		JointNames &	motion_joints
	)

Definition at line 100 of file play_motion_helpers.cpp.

void play_motion::getMotionPoints	(	const ros::NodeHandle &	nh,
		const std::string &	motion_id,
		Trajectory &	motion_points
	)

Parameters:

nh	Nodehandle with the namespace containing the motions (When omitted, defaults to ros::NodeHandle nh("play_motion"))

Exceptions:

xh::XmlrpcHelperException if motion_id cannot be found

Definition at line 106 of file play_motion_helpers.cpp.

void play_motion::getMotionPoints	(	const std::string &	motion_id,
		Trajectory &	motion_points
	)

Definition at line 114 of file play_motion_helpers.cpp.

ros::NodeHandle play_motion::getMotionsNodeHandle ( const ros::NodeHandle & nh )

Definition at line 48 of file play_motion_helpers.cpp.

static ros::ServiceClient play_motion::initCmClient ( ros::NodeHandle nh ) [static]

Definition at line 47 of file controller_updater.cpp.

bool play_motion::isAlreadyThere	(	const JointNames &	target_joints,
		const TrajPoint &	target_point,
		const JointNames &	source_joints,
		const TrajPoint &	source_point,
		double	tolerance = `0.15`
	)

isAlreadyThere checks if the source trajPoint matches the target trajPoint with a certain tolerance only the joints in targetJoint will be checked

Parameters:

tolerance tolerance per joint in radians

If a joint used in the target is not used in the available in the source can't guarantee that the points are equivalent

Definition at line 231 of file play_motion_helpers.cpp.

static bool play_motion::isJointTrajectoryController ( const std::string & name ) [static]

Definition at line 62 of file controller_updater.cpp.

bool play_motion::motionExists	(	const ros::NodeHandle &	nh,
		const std::string &	motion_id
	)

Parameters:

nh	Nodehandle with the namespace containing the motions (When omitted, defaults to ros::NodeHandle nh("play_motion"))
motion_id	Motion identifier

Returns:: True if the motion exists, false otherwise

Definition at line 212 of file play_motion_helpers.cpp.

bool play_motion::motionExists ( const std::string & motion_id )

Definition at line 225 of file play_motion_helpers.cpp.

void play_motion::populateVelocities	(	const TrajPoint &	point_prev,
		const TrajPoint &	point_next,
		TrajPoint &	point_curr
	)

Populate joint velocity information of a trajectory waypoint.

Joint velocities are computed by numeric differentiation of position information, except in the following cases, where it is set to zero:

$p_i = p_{i-1}$
$p_i < p_{i-1}$ and $p_i \leq p_{i+1}$
$p_i > p_{i-1}$ and $p_i \geq p_{i+1}$

where $p_{i-1}$ , $p_i$ and $p_{i+1}$ are the positions of a joint at the previous, current and next waypoint. This heuristic is well suited for direction reversals and position holding without overshoot, and produces better results than pure numeric differentiation.

If the input waypoint already contains a valid velocity specification, it will not be overwritten, that is, this method will be a no-op.

Parameters:

[in]	point_prev	Previous trajectory waypoint.
[in]	point_next	Next trajectory waypoint.
[out]	point_curr	Trajectory waypoint to which velocity information will be added.

See also:: populateVelocities(const Trajectory&, Trajectory&)

Definition at line 137 of file play_motion_helpers.cpp.

void play_motion::populateVelocities	(	const Trajectory &	traj_in,
		Trajectory &	traj_out
	)

Populate joint velocity information of a trajectory.

Joint velocities will be computed for all waypoints not containing a valid velocity specification. Waypoints with an existing velocity specification will not be modified. If the trajectory endpoints don't specify velocites, they will be set to zero.

Parameters:

[in]	traj_in	Input trajectory. Some waypoints may have a velocity specification (or not at all).
[out]	traj_out	Output trajectory. All waypoints have a velocity specification. Can be the same instance as `traj_in`.

See also:: populateVelocities(const TrajPoint&, const TrajPoint&, TrajPoint&)

Definition at line 180 of file play_motion_helpers.cpp.

Namespaces

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

Function Documentation