#include <footstep_marker.h>

Public Types
enum	CommandMode { SINGLE, CONTINUOUS, STACK }
typedef FootstepMarkerConfig	Config
typedef jsk_footstep_msgs::ExecFootstepsResult	ExecResult
typedef actionlib::SimpleActionClient < jsk_footstep_msgs::ExecFootstepsAction >	ExecuteActionClient
typedef boost::function< void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &)>	MenuCallbackFunction
typedef actionlib::SimpleActionClient < jsk_footstep_msgs::PlanFootstepsAction >	PlanningActionClient
enum	PlanningState { NOT_STARTED, FINISHED, ON_GOING }
typedef jsk_footstep_msgs::PlanFootstepsResult	PlanResult
typedef boost::shared_ptr < FootstepMarker >	Ptr
Public Member Functions
	FootstepMarker ()
virtual	~FootstepMarker ()
Protected Member Functions
virtual void	callFollowPathPlan (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	cancelPlanning ()
virtual void	configCallback (Config &config, uint32_t level)
virtual visualization_msgs::Marker	distanceLineMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual visualization_msgs::Marker	distanceTextMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual void	enable2DCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	enable3DCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	enableContinuousCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	enableCubeCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	enableLineCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	enableSingleCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	enableStackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	executeDoneCB (const actionlib::SimpleClientGoalState &state, const ExecResult::ConstPtr &result)
virtual void	executeFootstepCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual bool	executeFootstepService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual jsk_footstep_msgs::FootstepArray	footstepArrayFromPosePair (PosePair::Ptr pose_pair, const std_msgs::Header &header, bool is_lleg_first)
virtual PosePair::Ptr	getCurrentFootstepPoses (const ros::Time &stamp)
virtual PosePair::Ptr	getDefaultFootstepPair ()
virtual FootstepTrans	getDefaultLeftLegOffset ()
virtual FootstepTrans	getDefaultRightLegOffset ()
virtual bool	getFootstepMarkerPoseService (jsk_interactive_marker::GetTransformableMarkerPose::Request &req, jsk_interactive_marker::GetTransformableMarkerPose::Response &res)
virtual PosePair::Ptr	getLatestCurrentFootstepPoses ()
virtual visualization_msgs::Marker	goalBoundingBoxMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual visualization_msgs::Marker	makeFootstepMarker (FootstepTrans pose, unsigned char leg)
virtual visualization_msgs::Marker	originBoundingBoxMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual visualization_msgs::Marker	originMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual void	plan (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	planDoneCB (const actionlib::SimpleClientGoalState &state, const PlanResult::ConstPtr &result)
virtual void	planIfPossible (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	poseStampedCommandCallback (const geometry_msgs::PoseStamped::ConstPtr &msg)
virtual void	processFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	processMenuFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	processPoseUpdateCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void	publishCurrentMarkerMode ()
virtual void	resetInteractiveMarker ()
virtual void	resetMarkerCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual bool	resetMarkerService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual void	setupGoalMarker (FootstepTrans pose, visualization_msgs::InteractiveMarker &int_marker)
virtual void	setupInitialMarker (PosePair::Ptr leg_poses, visualization_msgs::InteractiveMarker &int_marker)
virtual void	setupMenuHandler ()
virtual visualization_msgs::Marker	stackedPosesMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual void	stackFootstepCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual bool	stackMarkerPoseService (jsk_interactive_marker::SetPose::Request &req, jsk_interactive_marker::SetPose::Response &res)
virtual visualization_msgs::Marker	targetArrow (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual bool	toggleFootstepMarkerModeService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual void	updateMarkerArray (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual bool	waitForExecuteFootstepService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual bool	waitForFootstepPlanService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
Protected Attributes
ExecuteActionClient	ac_exec_
PlanningActionClient	ac_planner_
FootstepTrans	collision_bbox_offset_
FootstepVec	collision_bbox_size_
CommandMode	command_mode_
interactive_markers::MenuHandler::EntryHandle	cont_mode_
interactive_markers::MenuHandler::EntryHandle	cube_mode_
FootstepTrans	current_lleg_offset_
FootstepTrans	current_rleg_offset_
double	default_footstep_margin_
bool	disable_tf_
interactive_markers::MenuHandler::EntryHandle	entry_2d_mode_
interactive_markers::MenuHandler::EntryHandle	entry_3d_mode_
double	foot_size_x_
double	foot_size_y_
double	foot_size_z_
bool	have_last_step_
bool	is_2d_mode_
bool	is_cube_mode_
jsk_footstep_msgs::Footstep	last_steps_ [2]
interactive_markers::MenuHandler::EntryHandle	line_mode_
std::string	lleg_end_coords_
FootstepVec	lleg_footstep_offset_
FootstepTrans	lleg_goal_pose_
interactive_markers::MenuHandler	menu_handler_
ros::NodeHandle	nh_
std::string	odom_frame_id_
PosePair::Ptr	original_foot_poses_
jsk_footstep_msgs::FootstepArray	plan_result_
boost::mutex	planner_mutex_
PlanningState	planning_state_
ros::NodeHandle	pnh_
ros::Publisher	pub_current_marker_mode_
MarkerArrayPublisher	pub_marker_array_
ros::Publisher	pub_plan_result_
std::string	rleg_end_coords_
FootstepVec	rleg_footstep_offset_
FootstepTrans	rleg_goal_pose_
boost::shared_ptr < interactive_markers::InteractiveMarkerServer >	server_
interactive_markers::MenuHandler::EntryHandle	single_mode_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
ros::ServiceServer	srv_execute_footstep_
ros::ServiceServer	srv_get_fs_marker_pose_
ros::ServiceServer	srv_reset_fs_marker_
ros::ServiceServer	srv_stack_marker_pose_
ros::ServiceServer	srv_toggle_fs_com_mode_
ros::ServiceServer	srv_wait_for_exec_fs_
ros::ServiceServer	srv_wait_for_fs_plan_
interactive_markers::MenuHandler::EntryHandle	stack_btn_
interactive_markers::MenuHandler::EntryHandle	stack_mode_
std::vector< FootstepTrans >	stacked_poses_
ros::Subscriber	sub_pose_stamped_command_
boost::shared_ptr < tf2_ros::BufferClient >	tf_client_
bool	use_default_goal_

Detailed Description

Definition at line 96 of file footstep_marker.h.

Member Typedef Documentation

typedef FootstepMarkerConfig jsk_footstep_planner::FootstepMarker::Config

Definition at line 111 of file footstep_marker.h.

typedef jsk_footstep_msgs::ExecFootstepsResult jsk_footstep_planner::FootstepMarker::ExecResult

Definition at line 105 of file footstep_marker.h.

typedef actionlib::SimpleActionClient<jsk_footstep_msgs::ExecFootstepsAction> jsk_footstep_planner::FootstepMarker::ExecuteActionClient

Definition at line 103 of file footstep_marker.h.

typedef boost::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> jsk_footstep_planner::FootstepMarker::MenuCallbackFunction

Definition at line 107 of file footstep_marker.h.

typedef actionlib::SimpleActionClient<jsk_footstep_msgs::PlanFootstepsAction> jsk_footstep_planner::FootstepMarker::PlanningActionClient

Definition at line 101 of file footstep_marker.h.

typedef jsk_footstep_msgs::PlanFootstepsResult jsk_footstep_planner::FootstepMarker::PlanResult

Definition at line 104 of file footstep_marker.h.

typedef boost::shared_ptr<FootstepMarker> jsk_footstep_planner::FootstepMarker::Ptr

Definition at line 99 of file footstep_marker.h.

Member Enumeration Documentation

enum jsk_footstep_planner::FootstepMarker::CommandMode

Enumerator:

SINGLE
CONTINUOUS
STACK

Definition at line 110 of file footstep_marker.h.

enum jsk_footstep_planner::FootstepMarker::PlanningState

Enumerator:

NOT_STARTED
FINISHED
ON_GOING

Definition at line 109 of file footstep_marker.h.

Constructor & Destructor Documentation

jsk_footstep_planner::FootstepMarker::FootstepMarker ( )

Definition at line 136 of file footstep_marker.cpp.

jsk_footstep_planner::FootstepMarker::~FootstepMarker ( ) [virtual]

Definition at line 214 of file footstep_marker.cpp.

Member Function Documentation

void jsk_footstep_planner::FootstepMarker::callFollowPathPlan ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 1277 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::cancelPlanning ( ) [protected, virtual]

Definition at line 660 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::configCallback	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

Definition at line 1074 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::distanceLineMarker	(	const std_msgs::Header &	header,
		const geometry_msgs::Pose &	pose
	)		`[protected, virtual]`

Definition at line 814 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::distanceTextMarker	(	const std_msgs::Header &	header,
		const geometry_msgs::Pose &	pose
	)		`[protected, virtual]`

Definition at line 896 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enable2DCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 536 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enable3DCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 551 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enableContinuousCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 595 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enableCubeCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 508 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enableLineCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 522 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enableSingleCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 566 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enableStackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 624 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::executeDoneCB	(	const actionlib::SimpleClientGoalState &	state,
		const ExecResult::ConstPtr &	result
	)		`[protected, virtual]`

Definition at line 431 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::executeFootstepCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 449 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::executeFootstepService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected, virtual]`

Definition at line 1166 of file footstep_marker.cpp.

jsk_footstep_msgs::FootstepArray jsk_footstep_planner::FootstepMarker::footstepArrayFromPosePair	(	PosePair::Ptr	pose_pair,
		const std_msgs::Header &	header,
		bool	is_lleg_first
	)		`[protected, virtual]`

Definition at line 669 of file footstep_marker.cpp.

PosePair::Ptr jsk_footstep_planner::FootstepMarker::getCurrentFootstepPoses ( const ros::Time & stamp ) [protected, virtual]

Definition at line 1054 of file footstep_marker.cpp.

PosePair::Ptr jsk_footstep_planner::FootstepMarker::getDefaultFootstepPair ( ) [protected, virtual]

Definition at line 1031 of file footstep_marker.cpp.

FootstepTrans jsk_footstep_planner::FootstepMarker::getDefaultLeftLegOffset ( ) [protected, virtual]

Definition at line 753 of file footstep_marker.cpp.

FootstepTrans jsk_footstep_planner::FootstepMarker::getDefaultRightLegOffset ( ) [protected, virtual]

Definition at line 757 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::getFootstepMarkerPoseService	(	jsk_interactive_marker::GetTransformableMarkerPose::Request &	req,
		jsk_interactive_marker::GetTransformableMarkerPose::Response &	res
	)		`[protected, virtual]`

Definition at line 1208 of file footstep_marker.cpp.

PosePair::Ptr jsk_footstep_planner::FootstepMarker::getLatestCurrentFootstepPoses ( ) [protected, virtual]

Definition at line 1039 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::goalBoundingBoxMarker	(	const std_msgs::Header &	header,
		const geometry_msgs::Pose &	pose
	)		`[protected, virtual]`

Definition at line 942 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::makeFootstepMarker	(	FootstepTrans	pose,
		unsigned char	leg
	)		`[protected, virtual]`

Definition at line 221 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::originBoundingBoxMarker	(	const std_msgs::Header &	header,
		const geometry_msgs::Pose &	pose
	)		`[protected, virtual]`

Definition at line 926 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::originMarker	(	const std_msgs::Header &	header,
		const geometry_msgs::Pose &	pose
	)		`[protected, virtual]`

Definition at line 868 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::plan ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 696 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::planDoneCB	(	const actionlib::SimpleClientGoalState &	state,
		const PlanResult::ConstPtr &	result
	)		`[protected, virtual]`

Definition at line 735 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::planIfPossible ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 744 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::poseStampedCommandCallback ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [protected, virtual]

Definition at line 1083 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::processFeedbackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 761 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::processMenuFeedbackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 655 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::processPoseUpdateCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 1026 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::publishCurrentMarkerMode ( ) [protected, virtual]

Definition at line 1244 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::resetInteractiveMarker ( ) [protected, virtual]

Definition at line 316 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::resetMarkerCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 421 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::resetMarkerService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected, virtual]`

Definition at line 1124 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::setupGoalMarker	(	FootstepTrans	pose,
		visualization_msgs::InteractiveMarker &	int_marker
	)		`[protected, virtual]`

Definition at line 292 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::setupInitialMarker	(	PosePair::Ptr	leg_poses,
		visualization_msgs::InteractiveMarker &	int_marker
	)		`[protected, virtual]`

Definition at line 267 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::setupMenuHandler ( ) [protected, virtual]

Definition at line 364 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::stackedPosesMarker	(	const std_msgs::Header &	header,
		const geometry_msgs::Pose &	pose
	)		`[protected, virtual]`

Definition at line 960 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::stackFootstepCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected, virtual]

Definition at line 438 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::stackMarkerPoseService	(	jsk_interactive_marker::SetPose::Request &	req,
		jsk_interactive_marker::SetPose::Response &	res
	)		`[protected, virtual]`

Definition at line 1227 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::targetArrow	(	const std_msgs::Header &	header,
		const geometry_msgs::Pose &	pose
	)		`[protected, virtual]`

Definition at line 799 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::toggleFootstepMarkerModeService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected, virtual]`

Definition at line 1136 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::updateMarkerArray	(	const std_msgs::Header &	header,
		const geometry_msgs::Pose &	pose
	)		`[protected, virtual]`

Definition at line 1014 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::waitForExecuteFootstepService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected, virtual]`

Definition at line 1184 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::waitForFootstepPlanService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected, virtual]`