Classes | Public Slots | Public Member Functions | Private Types | Private Member Functions | Private Attributes | Static Private Attributes
benchmark_tool::MainWindow Class Reference

#include <main_window.h>

List of all members.

Classes

class  StartState

Public Slots

void benchmarkFolderButtonClicked (void)
void cancelBenchmarkButtonClicked (void)
void checkGoalsInCollision (void)
void checkGoalsReachable (void)
void copySelectedGoalPoses (void)
void createBBoxGoalsButtonClicked (void)
void createGoalAtPose (const std::string &name, const Eigen::Affine3d &pose)
void createGoalPoseButtonClicked (void)
void createTrajectoryButtonClicked (void)
void dbConnectButtonClicked ()
void dbConnectButtonClickedBackgroundJob ()
void deleteGoalsOnDBButtonClicked (void)
void deleteStatesOnDBButtonClicked (void)
void exitActionTriggered (bool)
void goalOffsetChanged ()
void goalPoseDoubleClicked (QListWidgetItem *item)
void goalPoseFeedback (visualization_msgs::InteractiveMarkerFeedback &feedback)
void goalPoseSelectionChanged (void)
void loadBenchmarkResults (void)
void loadGoalsFromDBButtonClicked (void)
void loadSceneButtonClicked (void)
void loadSceneButtonClicked (QListWidgetItem *item)
void loadStatesFromDBButtonClicked (void)
void loadTrajectoriesFromDBButtonClicked (void)
void MainLoop ()
void openActionTriggered (bool)
void planningGroupChanged (const QString &text)
void removeAllGoalsButtonClicked (void)
void removeAllStatesButtonClicked (void)
void removeSelectedGoalsButtonClicked (void)
void removeSelectedStatesButtonClicked (void)
void removeTrajectoryButtonClicked (void)
void robotInteractionButtonClicked ()
void runBenchmark (void)
void runBenchmarkButtonClicked (void)
bool saveBenchmarkConfigButtonClicked (void)
void saveGoalsOnDBButtonClicked (void)
void saveStartStateButtonClicked (void)
void saveStatesOnDBButtonClicked (void)
void saveTrajectoriesOnDBButtonClicked (void)
void showBBoxGoalsDialog ()
void startStateItemDoubleClicked (QListWidgetItem *item)
void switchGoalVisibilityButtonClicked (void)
void trajectoryExecuteButtonClicked (void)
void trajectoryNWaypointsChanged (int)
void trajectorySelectionChanged (void)
void updateGoalMarkerStateFromName (const std::string &name, const GripperMarker::GripperMarkerState &state)
void updateMarkerState (GripperMarkerPtr marker, const GripperMarker::GripperMarkerState &state)
void visibleAxisChanged (int state)

Public Member Functions

 MainWindow (int argc, char **argv, QWidget *parent=0)
 ~MainWindow ()

Private Types

typedef std::map< std::string,
GripperMarkerPtr > 
GoalPoseMap
typedef std::pair< std::string,
GripperMarkerPtr > 
GoalPosePair
typedef std::pair
< visualization_msgs::InteractiveMarker,
boost::shared_ptr
< rviz::InteractiveMarker > > 
MsgMarkerPair
typedef std::map< std::string,
StartStatePtr > 
StartStateMap
typedef std::pair< std::string,
StartStatePtr > 
StartStatePair
enum  StatusType { STATUS_WARN, STATUS_ERROR, STATUS_INFO }
typedef std::map< std::string,
TrajectoryPtr > 
TrajectoryMap
typedef std::pair< std::string,
TrajectoryPtr > 
TrajectoryPair

Private Member Functions

void animateTrajectory (const std::vector< robot_state::RobotStatePtr > &traj)
void checkIfGoalInCollision (const std::string &goal_name)
void checkIfGoalReachable (const std::string &goal_name, bool update_if_reachable=false)
void computeGoalPoseDoubleClicked (QListWidgetItem *item)
void computeLoadBenchmarkResults (const std::string &file)
bool configure ()
void createTrajectoryStartMarker (const GripperMarker &marker)
bool isGroupCollidingWithWorld (robot_state::RobotState &robot_state, const std::string &group_name)
 Return true if any links of the given group_name are in collision with objects in the world (not including the rest of the robot).
bool isIKSolutionCollisionFree (robot_state::RobotState *state, const robot_model::JointModelGroup *group, const double *ik_solution)
void loadNewRobot (const std::string &urdf_path, const std::string &srdf_path)
void loadSceneButtonClickedBackgroundJob (void)
 MOVEIT_CLASS_FORWARD (StartState)
void populateGoalPosesList ()
void populatePlanningSceneList (void)
void populateStartStatesList ()
void populateTrajectoriesList ()
void saveGoalsToDB ()
void scheduleStateUpdate ()
void scheduleStateUpdateBackgroundJob ()
void selectItemJob (QListWidgetItem *item, bool flag)
void setItemSelectionInList (const std::string &item_name, bool selection, QListWidget *list)
void setStatus (StatusType st, const QString &text)
void setStatusFromBackground (StatusType st, const QString &text)
void switchGoalPoseMarkerSelection (const std::string &marker_name)
void switchTrajectorySelection (const std::string &marker_name)
void updateGoalPoseMarkers (float wall_dt, float ros_dt)
bool waitForPlanningSceneMonitor (moveit_rviz_plugin::PlanningSceneDisplay *scene_display)

Private Attributes

QDialog * bbox_dialog_
Ui_BoundingBoxGoalsDialog bbox_dialog_ui_
moveit_warehouse::ConstraintsStoragePtr constraints_storage_
std::string database_host_
std::size_t database_port_
Eigen::Affine3d drag_initial_pose_
Eigen::Affine3d goal_offset_
bool goal_pose_dragging_
GoalPoseMap goal_poses_
EigenSTL::map_string_Affine3d goals_dragging_initial_pose_
EigenSTL::map_string_Affine3d goals_initial_pose_
rviz::Displayint_marker_display_
Ui_RobotLoader load_robot_ui_
boost::shared_ptr< QTimer > main_loop_jobs_timer_
moveit_warehouse::PlanningSceneStoragePtr planning_scene_storage_
robot_interaction::RobotInteraction::InteractionHandlerPtr query_goal_state_
rviz::RenderPanelrender_panel_
robot_interaction::RobotInteractionPtr robot_interaction_
QDialog * robot_loader_dialog_
moveit_warehouse::RobotStateStoragePtr robot_state_storage_
QDialog * run_benchmark_dialog_
Ui_BenchmarkDialog run_benchmark_ui_
moveit_rviz_plugin::PlanningSceneDisplayscene_display_
boost::shared_ptr< QSettings > settings_
StartStateMap start_states_
TrajectoryMap trajectories_
moveit_warehouse::TrajectoryConstraintsStoragePtr trajectory_constraints_storage_
Ui::MainWindow ui_
rviz::VisualizationManagervisualization_manager_

Static Private Attributes

static const unsigned int DEFAULT_WAREHOUSE_PORT = 33830
static const unsigned int MAIN_LOOP_RATE = 20
static const char * ROBOT_DESCRIPTION_PARAM = "robot_description"
static const char * ROBOT_DESCRIPTION_SEMANTIC_PARAM = "robot_description_semantic"

Detailed Description

Definition at line 75 of file main_window.h.


Member Typedef Documentation

typedef std::map<std::string, GripperMarkerPtr> benchmark_tool::MainWindow::GoalPoseMap [private]

Definition at line 195 of file main_window.h.

typedef std::pair<std::string, GripperMarkerPtr> benchmark_tool::MainWindow::GoalPosePair [private]

Definition at line 196 of file main_window.h.

typedef std::pair<visualization_msgs::InteractiveMarker, boost::shared_ptr<rviz::InteractiveMarker> > benchmark_tool::MainWindow::MsgMarkerPair [private]

Definition at line 227 of file main_window.h.

typedef std::map<std::string, StartStatePtr> benchmark_tool::MainWindow::StartStateMap [private]

Definition at line 218 of file main_window.h.

typedef std::pair<std::string, StartStatePtr> benchmark_tool::MainWindow::StartStatePair [private]

Definition at line 219 of file main_window.h.

typedef std::map<std::string, TrajectoryPtr> benchmark_tool::MainWindow::TrajectoryMap [private]

Definition at line 247 of file main_window.h.

typedef std::pair<std::string, TrajectoryPtr> benchmark_tool::MainWindow::TrajectoryPair [private]

Definition at line 248 of file main_window.h.


Member Enumeration Documentation

Enumerator:
STATUS_WARN 
STATUS_ERROR 
STATUS_INFO 

Definition at line 261 of file main_window.h.


Constructor & Destructor Documentation

benchmark_tool::MainWindow::MainWindow ( int  argc,
char **  argv,
QWidget *  parent = 0 
)

Definition at line 57 of file main_window.cpp.

Definition at line 252 of file main_window.cpp.


Member Function Documentation

void benchmark_tool::MainWindow::animateTrajectory ( const std::vector< robot_state::RobotStatePtr > &  traj) [private]

Definition at line 371 of file tab_trajectories.cpp.

Definition at line 1027 of file tab_states_and_goals.cpp.

Definition at line 1034 of file tab_states_and_goals.cpp.

Definition at line 681 of file tab_states_and_goals.cpp.

Definition at line 675 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::checkIfGoalInCollision ( const std::string &  goal_name) [private]

Definition at line 768 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::checkIfGoalReachable ( const std::string &  goal_name,
bool  update_if_reachable = false 
) [private]

Definition at line 687 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::computeGoalPoseDoubleClicked ( QListWidgetItem *  item) [private]

Definition at line 557 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::computeLoadBenchmarkResults ( const std::string &  file) [private]

Definition at line 1159 of file tab_states_and_goals.cpp.

Definition at line 414 of file main_window.cpp.

Definition at line 821 of file tab_states_and_goals.cpp.

Definition at line 209 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::createGoalAtPose ( const std::string &  name,
const Eigen::Affine3d &  pose 
) [slot]

Definition at line 64 of file tab_states_and_goals.cpp.

Definition at line 141 of file tab_states_and_goals.cpp.

Definition at line 51 of file tab_trajectories.cpp.

Definition at line 594 of file main_window.cpp.

Definition at line 599 of file main_window.cpp.

Definition at line 341 of file tab_states_and_goals.cpp.

Definition at line 450 of file tab_states_and_goals.cpp.

Definition at line 270 of file main_window.cpp.

Definition at line 1342 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::goalPoseDoubleClicked ( QListWidgetItem *  item) [slot]

Definition at line 552 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::goalPoseFeedback ( visualization_msgs::InteractiveMarkerFeedback &  feedback) [slot]

Definition at line 572 of file tab_states_and_goals.cpp.

Definition at line 540 of file tab_states_and_goals.cpp.

bool benchmark_tool::MainWindow::isGroupCollidingWithWorld ( robot_state::RobotState &  robot_state,
const std::string &  group_name 
) [private]

Return true if any links of the given group_name are in collision with objects in the world (not including the rest of the robot).

This function helps display collision state for a disconnected end-effector which is used to show goal poses.

Definition at line 736 of file tab_states_and_goals.cpp.

bool benchmark_tool::MainWindow::isIKSolutionCollisionFree ( robot_state::RobotState *  state,
const robot_model::JointModelGroup *  group,
const double *  ik_solution 
) [private]

Definition at line 570 of file main_window.cpp.

Definition at line 1148 of file tab_states_and_goals.cpp.

Definition at line 260 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::loadNewRobot ( const std::string &  urdf_path,
const std::string &  srdf_path 
) [private]

Definition at line 292 of file main_window.cpp.

Definition at line 723 of file main_window.cpp.

void benchmark_tool::MainWindow::loadSceneButtonClicked ( QListWidgetItem *  item) [slot]

Definition at line 718 of file main_window.cpp.

Definition at line 736 of file main_window.cpp.

Definition at line 377 of file tab_states_and_goals.cpp.

Definition at line 176 of file tab_trajectories.cpp.

Definition at line 811 of file main_window.cpp.

Definition at line 275 of file main_window.cpp.

void benchmark_tool::MainWindow::planningGroupChanged ( const QString &  text) [slot]

Definition at line 519 of file main_window.cpp.

Definition at line 500 of file tab_states_and_goals.cpp.

Definition at line 700 of file main_window.cpp.

Definition at line 939 of file tab_states_and_goals.cpp.

Definition at line 110 of file tab_trajectories.cpp.

Definition at line 253 of file tab_states_and_goals.cpp.

Definition at line 933 of file tab_states_and_goals.cpp.

Definition at line 243 of file tab_states_and_goals.cpp.

Definition at line 923 of file tab_states_and_goals.cpp.

Definition at line 139 of file tab_trajectories.cpp.

Definition at line 546 of file main_window.cpp.

Definition at line 960 of file tab_states_and_goals.cpp.

Definition at line 1087 of file tab_states_and_goals.cpp.

Definition at line 1039 of file tab_states_and_goals.cpp.

Definition at line 336 of file tab_states_and_goals.cpp.

Definition at line 88 of file tab_states_and_goals.cpp.

Definition at line 875 of file tab_states_and_goals.cpp.

Definition at line 429 of file tab_states_and_goals.cpp.

Definition at line 276 of file tab_trajectories.cpp.

Definition at line 583 of file main_window.cpp.

Definition at line 588 of file main_window.cpp.

void benchmark_tool::MainWindow::selectItemJob ( QListWidgetItem *  item,
bool  flag 
) [private]

Definition at line 819 of file main_window.cpp.

void benchmark_tool::MainWindow::setItemSelectionInList ( const std::string &  item_name,
bool  selection,
QListWidget *  list 
) [private]

Definition at line 824 of file main_window.cpp.

void benchmark_tool::MainWindow::setStatus ( StatusType  st,
const QString &  text 
) [inline, private]

Definition at line 262 of file main_window.h.

void benchmark_tool::MainWindow::setStatusFromBackground ( StatusType  st,
const QString &  text 
) [inline, private]

Definition at line 280 of file main_window.h.

Definition at line 188 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::startStateItemDoubleClicked ( QListWidgetItem *  item) [slot]

Definition at line 954 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::switchGoalPoseMarkerSelection ( const std::string &  marker_name) [private]

Definition at line 799 of file tab_states_and_goals.cpp.

Definition at line 519 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::switchTrajectorySelection ( const std::string &  marker_name) [private]

Definition at line 340 of file tab_trajectories.cpp.

Definition at line 331 of file tab_trajectories.cpp.

Definition at line 122 of file tab_trajectories.cpp.

void benchmark_tool::MainWindow::updateGoalMarkerStateFromName ( const std::string &  name,
const GripperMarker::GripperMarkerState state 
) [slot]

Definition at line 1331 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::updateGoalPoseMarkers ( float  wall_dt,
float  ros_dt 
) [private]

Definition at line 791 of file main_window.cpp.

void benchmark_tool::MainWindow::updateMarkerState ( GripperMarkerPtr  marker,
const GripperMarker::GripperMarkerState state 
) [slot]

Definition at line 1337 of file tab_states_and_goals.cpp.

Definition at line 485 of file tab_states_and_goals.cpp.

Definition at line 256 of file main_window.cpp.


Member Data Documentation

Definition at line 153 of file main_window.h.

Ui_BoundingBoxGoalsDialog benchmark_tool::MainWindow::bbox_dialog_ui_ [private]

Definition at line 152 of file main_window.h.

moveit_warehouse::ConstraintsStoragePtr benchmark_tool::MainWindow::constraints_storage_ [private]

Definition at line 180 of file main_window.h.

Definition at line 177 of file main_window.h.

Definition at line 178 of file main_window.h.

const unsigned int benchmark_tool::MainWindow::DEFAULT_WAREHOUSE_PORT = 33830 [static, private]

Definition at line 147 of file main_window.h.

Definition at line 193 of file main_window.h.

Eigen::Affine3d benchmark_tool::MainWindow::goal_offset_ [private]

Definition at line 189 of file main_window.h.

Definition at line 192 of file main_window.h.

Definition at line 197 of file main_window.h.

Definition at line 191 of file main_window.h.

Definition at line 190 of file main_window.h.

Definition at line 174 of file main_window.h.

Definition at line 151 of file main_window.h.

boost::shared_ptr<QTimer> benchmark_tool::MainWindow::main_loop_jobs_timer_ [private]

Definition at line 258 of file main_window.h.

const unsigned int benchmark_tool::MainWindow::MAIN_LOOP_RATE = 20 [static, private]

Definition at line 257 of file main_window.h.

moveit_warehouse::PlanningSceneStoragePtr benchmark_tool::MainWindow::planning_scene_storage_ [private]

Definition at line 179 of file main_window.h.

Definition at line 187 of file main_window.h.

Definition at line 157 of file main_window.h.

const char * benchmark_tool::MainWindow::ROBOT_DESCRIPTION_PARAM = "robot_description" [static, private]

Definition at line 145 of file main_window.h.

const char * benchmark_tool::MainWindow::ROBOT_DESCRIPTION_SEMANTIC_PARAM = "robot_description_semantic" [static, private]

Definition at line 146 of file main_window.h.

robot_interaction::RobotInteractionPtr benchmark_tool::MainWindow::robot_interaction_ [private]

Definition at line 173 of file main_window.h.

Definition at line 153 of file main_window.h.

moveit_warehouse::RobotStateStoragePtr benchmark_tool::MainWindow::robot_state_storage_ [private]

Definition at line 182 of file main_window.h.

Definition at line 153 of file main_window.h.

Ui_BenchmarkDialog benchmark_tool::MainWindow::run_benchmark_ui_ [private]

Definition at line 150 of file main_window.h.

Definition at line 159 of file main_window.h.

boost::shared_ptr<QSettings> benchmark_tool::MainWindow::settings_ [private]

Definition at line 154 of file main_window.h.

Definition at line 220 of file main_window.h.

Definition at line 249 of file main_window.h.

moveit_warehouse::TrajectoryConstraintsStoragePtr benchmark_tool::MainWindow::trajectory_constraints_storage_ [private]

Definition at line 181 of file main_window.h.

Ui::MainWindow benchmark_tool::MainWindow::ui_ [private]

Definition at line 149 of file main_window.h.

Definition at line 158 of file main_window.h.


The documentation for this class was generated from the following files:


benchmarks_gui
Author(s): Mario Prats
autogenerated on Mon Jul 24 2017 02:22:21