#include <interaction_handler.h>

Inheritance diagram for robot_interaction::InteractionHandler:

Public Member Functions
void	clearError (void)
	Clear any error settings. This makes the markers appear as if the state is no longer invalid.
void	clearLastEndEffectorMarkerPose (const EndEffectorInteraction &eef)
	Clear the last interactive_marker command pose for the given end-effector.
void	clearLastJointMarkerPose (const JointInteraction &vj)
	Clear the last interactive_marker command pose for the given joint.
void	clearLastMarkerPoses ()
	Clear the last interactive_marker command poses for all end-effectors and joints.
void	clearMenuHandler ()
	Remove the menu handler for this interaction handler.
void	clearPoseOffset (const EndEffectorInteraction &eef)
	Clear the interactive marker pose offset for the given end-effector.
void	clearPoseOffset (const JointInteraction &vj)
	Clear the interactive marker pose offset for the given joint.
void	clearPoseOffsets ()
	Clear the pose offset for all end-effectors and virtual joints.
bool	getControlsVisible () const
kinematics::KinematicsQueryOptions	getKinematicsQueryOptions () const
bool	getLastEndEffectorMarkerPose (const EndEffectorInteraction &eef, geometry_msgs::PoseStamped &pose)
	Get the last interactive_marker command pose for an end-effector.
bool	getLastJointMarkerPose (const JointInteraction &vj, geometry_msgs::PoseStamped &pose)
	Get the last interactive_marker command pose for a joint.
const boost::shared_ptr < interactive_markers::MenuHandler > &	getMenuHandler ()
	Get the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.
bool	getMeshesVisible () const
const std::string &	getName () const
bool	getPoseOffset (const EndEffectorInteraction &eef, geometry_msgs::Pose &m)
	Get the offset from EEF to its marker.
bool	getPoseOffset (const JointInteraction &vj, geometry_msgs::Pose &m)
	Get the offset from a joint to its marker.
const InteractionHandlerCallbackFn &	getUpdateCallback () const
virtual void	handleEndEffector (const EndEffectorInteraction &eef, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message.
virtual void	handleGeneric (const GenericInteraction &g, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message.
virtual void	handleJoint (const JointInteraction &vj, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message.
virtual bool	inError (const EndEffectorInteraction &eef) const
	Check if the marker corresponding to this end-effector leads to an invalid state.
virtual bool	inError (const JointInteraction &vj) const
	Check if the marker corresponding to this joint leads to an invalid state.
virtual bool	inError (const GenericInteraction &g) const
	Check if the generic marker to an invalid state.
	InteractionHandler (const RobotInteractionPtr &robot_interaction, const std::string &name, const robot_state::RobotState &initial_robot_state, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >())
	InteractionHandler (const RobotInteractionPtr &robot_interaction, const std::string &name, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >())
	InteractionHandler (const std::string &name, const robot_state::RobotState &initial_robot_state, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >())
	InteractionHandler (const std::string &name, const robot_model::RobotModelConstPtr &model, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >())
void	setControlsVisible (bool visible)
void	setGroupStateValidityCallback (const robot_state::GroupStateValidityCallbackFn &callback)
void	setIKAttempts (unsigned int attempts)
void	setIKTimeout (double timeout)
void	setKinematicsQueryOptions (const kinematics::KinematicsQueryOptions &opt)
void	setKinematicsQueryOptionsForGroup (const std::string &group_name, const kinematics::KinematicsQueryOptions &options)
void	setMenuHandler (const boost::shared_ptr< interactive_markers::MenuHandler > &mh)
	Set the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.
void	setMeshesVisible (bool visible)
void	setPoseOffset (const EndEffectorInteraction &eef, const geometry_msgs::Pose &m)
	Set the offset from EEF to its marker.
void	setPoseOffset (const JointInteraction &j, const geometry_msgs::Pose &m)
	Set the offset from a joint to its marker.
void	setRobotInteraction (RobotInteraction *robot_interaction)
	This should only be called by RobotInteraction. Associates this InteractionHandler to a RobotInteraction.
void	setUpdateCallback (const InteractionHandlerCallbackFn &callback)
virtual	~InteractionHandler ()
Protected Member Functions
bool	transformFeedbackPose (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, const geometry_msgs::Pose &offset, geometry_msgs::PoseStamped &tpose)
Protected Attributes
const std::string	name_
const std::string	planning_frame_
boost::shared_ptr < tf::Transformer >	tf_
Private Types
typedef boost::function< void(InteractionHandler *)	StateChangeCallbackFn )
Private Member Functions
bool	getErrorState (const std::string &name) const
bool	setErrorState (const std::string &name, bool new_error_state)
void	updateStateEndEffector (robot_state::RobotState state, const EndEffectorInteraction eef, const geometry_msgs::Pose pose, StateChangeCallbackFn callback)
void	updateStateGeneric (robot_state::RobotState state, const GenericInteraction g, const visualization_msgs::InteractiveMarkerFeedbackConstPtr feedback, StateChangeCallbackFn callback)
void	updateStateJoint (robot_state::RobotState state, const JointInteraction vj, const geometry_msgs::Pose pose, StateChangeCallbackFn callback)
Static Private Member Functions
static std::string	fixName (std::string name)
Private Attributes
bool	display_controls_
bool	display_meshes_
std::set< std::string >	error_state_
KinematicOptionsMapPtr	kinematic_options_map_
boost::shared_ptr < interactive_markers::MenuHandler >	menu_handler_
std::map< std::string, geometry_msgs::Pose >	offset_map_
boost::mutex	offset_map_lock_
std::map< std::string, geometry_msgs::PoseStamped >	pose_map_
boost::mutex	pose_map_lock_
const void *	robot_interaction_
boost::function< void(InteractionHandler *handler, bool error_state_changed)	update_callback_ )

Detailed Description

Manage interactive markers to control a RobotState.

Each instance maintains one or more interactive markers to control various joints in one group of one RobotState. The group being controlled is maintained by the RobotInteraction object that contains this InteractionHandler object. All InteractionHandler objects in the same RobotInteraction are controlling the same group.

Definition at line 76 of file interaction_handler.h.

Member Typedef Documentation

typedef boost::function<void(InteractionHandler*) robot_interaction::InteractionHandler::StateChangeCallbackFn) [private]

Definition at line 235 of file interaction_handler.h.

Constructor & Destructor Documentation

robot_interaction::InteractionHandler::InteractionHandler	(	const RobotInteractionPtr &	robot_interaction,
		const std::string &	name,
		const robot_state::RobotState &	initial_robot_state,
		const boost::shared_ptr< tf::Transformer > &	tf = `boost::shared_ptr<tf::Transformer>()`
	)

Definition at line 57 of file interaction_handler.cpp.

robot_interaction::InteractionHandler::InteractionHandler	(	const RobotInteractionPtr &	robot_interaction,
		const std::string &	name,
		const boost::shared_ptr< tf::Transformer > &	tf = `boost::shared_ptr<tf::Transformer>()`
	)

Definition at line 72 of file interaction_handler.cpp.

robot_interaction::InteractionHandler::InteractionHandler	(	const std::string &	name,
		const robot_state::RobotState &	initial_robot_state,
		const boost::shared_ptr< tf::Transformer > &	tf = `boost::shared_ptr<tf::Transformer>()`
	)

Definition at line 87 of file interaction_handler.cpp.

robot_interaction::InteractionHandler::InteractionHandler	(	const std::string &	name,
		const robot_model::RobotModelConstPtr &	model,
		const boost::shared_ptr< tf::Transformer > &	tf = `boost::shared_ptr<tf::Transformer>()`
	)

Definition at line 101 of file interaction_handler.cpp.

virtual robot_interaction::InteractionHandler::~InteractionHandler ( ) [inline, virtual]

Definition at line 95 of file interaction_handler.h.

Member Function Documentation

void robot_interaction::InteractionHandler::clearError ( void )

Clear any error settings. This makes the markers appear as if the state is no longer invalid.

Definition at line 391 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::clearLastEndEffectorMarkerPose ( const EndEffectorInteraction & eef )

Clear the last interactive_marker command pose for the given end-effector.

Parameters:

The	target end-effector.

Definition at line 198 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::clearLastJointMarkerPose ( const JointInteraction & vj )

Clear the last interactive_marker command pose for the given joint.

Parameters:

The	target joint.

Definition at line 204 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::clearLastMarkerPoses ( )

Clear the last interactive_marker command poses for all end-effectors and joints.

Definition at line 210 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::clearMenuHandler ( )

Remove the menu handler for this interaction handler.

Definition at line 228 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::clearPoseOffset ( const EndEffectorInteraction & eef )

Clear the interactive marker pose offset for the given end-effector.

Parameters:

The	target end-effector.

Definition at line 132 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::clearPoseOffset ( const JointInteraction & vj )

Clear the interactive marker pose offset for the given joint.

Parameters:

The	target joint.

Definition at line 138 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::clearPoseOffsets ( )

Clear the pose offset for all end-effectors and virtual joints.

Definition at line 144 of file interaction_handler.cpp.

std::string robot_interaction::InteractionHandler::fixName ( std::string name ) [static, private]

Definition at line 114 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::getControlsVisible ( ) const

Definition at line 586 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::getErrorState ( const std::string & name ) const [private]

Get the error state for name. True if Interaction name is not in a valid pose.

Definition at line 414 of file interaction_handler.cpp.

kinematics::KinematicsQueryOptions robot_interaction::InteractionHandler::getKinematicsQueryOptions ( ) const

Definition at line 550 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::getLastEndEffectorMarkerPose	(	const EndEffectorInteraction &	eef,
		geometry_msgs::PoseStamped &	pose
	)

Get the last interactive_marker command pose for an end-effector.

Parameters:

The	end-effector in question.
A	PoseStamped message containing the last (offset-removed) pose commanded for the end-effector.

Returns:: True if a pose for that end-effector was found, false otherwise.

Definition at line 174 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::getLastJointMarkerPose	(	const JointInteraction &	vj,
		geometry_msgs::PoseStamped &	pose
	)

Get the last interactive_marker command pose for a joint.

Parameters:

The	joint in question.
A	PoseStamped message containing the last (offset-removed) pose commanded for the joint.

Returns:: True if a pose for that joint was found, false otherwise.

Definition at line 186 of file interaction_handler.cpp.

const boost::shared_ptr< interactive_markers::MenuHandler > & robot_interaction::InteractionHandler::getMenuHandler ( )

Get the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

Returns:: The menu handler.

Definition at line 222 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::getMeshesVisible ( ) const

Definition at line 574 of file interaction_handler.cpp.

const std::string& robot_interaction::InteractionHandler::getName ( ) const [inline]

Definition at line 99 of file interaction_handler.h.

bool robot_interaction::InteractionHandler::getPoseOffset	(	const EndEffectorInteraction &	eef,
		geometry_msgs::Pose &	m
	)

Get the offset from EEF to its marker.

Parameters:

The	target end-effector.
The	pose offset (only valid if return value is true).

Returns:: True if an offset was found for the given end-effector.

Definition at line 150 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::getPoseOffset	(	const JointInteraction &	vj,
		geometry_msgs::Pose &	m
	)

Get the offset from a joint to its marker.

Parameters:

vj	The joint.
m	The pose offset (only valid if return value is true).

Returns:: True if an offset was found for the given joint.

Definition at line 162 of file interaction_handler.cpp.

const InteractionHandlerCallbackFn & robot_interaction::InteractionHandler::getUpdateCallback ( ) const

Definition at line 562 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::handleEndEffector	(	const EndEffectorInteraction &	eef,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)		`[virtual]`

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 250 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::handleGeneric	(	const GenericInteraction &	g,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)		`[virtual]`

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 234 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::handleJoint	(	const JointInteraction &	vj,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)		`[virtual]`

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 281 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::inError ( const EndEffectorInteraction & eef ) const [virtual]

Check if the marker corresponding to this end-effector leads to an invalid state.

Definition at line 376 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::inError ( const JointInteraction & vj ) const [virtual]

Check if the marker corresponding to this joint leads to an invalid state.

Definition at line 386 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::inError ( const GenericInteraction & g ) const [virtual]

Check if the generic marker to an invalid state.

Definition at line 381 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setControlsVisible ( bool visible )

Definition at line 580 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::setErrorState	(	const std::string &	name,
		bool	new_error_state
	)		`[private]`

Definition at line 399 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setGroupStateValidityCallback ( const robot_state::GroupStateValidityCallbackFn & callback )

Definition at line 541 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setIKAttempts ( unsigned int attempts )

Definition at line 513 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setIKTimeout ( double timeout )

Definition at line 504 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setKinematicsQueryOptions ( const kinematics::KinematicsQueryOptions & opt )

Definition at line 522 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setKinematicsQueryOptionsForGroup	(	const std::string &	group_name,
		const kinematics::KinematicsQueryOptions &	options
	)

Definition at line 531 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setMenuHandler ( const boost::shared_ptr< interactive_markers::MenuHandler > & mh )

Set the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

Parameters:

A	menu handler.

Definition at line 216 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setMeshesVisible ( bool visible )

Definition at line 568 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setPoseOffset	(	const EndEffectorInteraction &	eef,
		const geometry_msgs::Pose &	m
	)

Set the offset from EEF to its marker.

Parameters:

eef	The target end-effector.
m	The pose of the marker in the frame of the end-effector parent.

Definition at line 120 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setPoseOffset	(	const JointInteraction &	j,
		const geometry_msgs::Pose &	m
	)

Set the offset from a joint to its marker.

Parameters:

j	The target joint.
m	The pose of the marker in the frame of the joint parent.

Definition at line 126 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setRobotInteraction ( RobotInteraction * robot_interaction )

This should only be called by RobotInteraction. Associates this InteractionHandler to a RobotInteraction.

Definition at line 466 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::setUpdateCallback ( const InteractionHandlerCallbackFn & callback )

Definition at line 556 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::transformFeedbackPose	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		const geometry_msgs::Pose &	offset,
		geometry_msgs::PoseStamped &	tpose
	)		`[protected]`

Definition at line 420 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::updateStateEndEffector	(	robot_state::RobotState *	state,
		const EndEffectorInteraction *	eef,
		const geometry_msgs::Pose *	pose,
		StateChangeCallbackFn *	callback
	)		`[private]`

Definition at line 324 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::updateStateGeneric	(	robot_state::RobotState *	state,
		const GenericInteraction *	g,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr *	feedback,
		StateChangeCallbackFn *	callback
	)		`[private]`

Definition at line 313 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::updateStateJoint	(	robot_state::RobotState *	state,
		const JointInteraction *	vj,
		const geometry_msgs::Pose *	pose,
		StateChangeCallbackFn *	callback
	)		`[private]`