Signals | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | Static Protected Attributes | Private Slots | Private Member Functions | Private Attributes | Friends
moveit_rviz_plugin::MotionPlanningFrame Class Reference

#include <motion_planning_frame.h>

List of all members.

Signals

void planningFinished ()

Public Member Functions

void changePlanningGroup ()
void disable ()
void enable ()
 MotionPlanningFrame (MotionPlanningDisplay *pdisplay, rviz::DisplayContext *context, QWidget *parent=0)
void sceneUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
 ~MotionPlanningFrame ()

Protected Types

typedef std::map< std::string,
moveit_msgs::RobotState > 
RobotStateMap
typedef std::pair< std::string,
moveit_msgs::RobotState > 
RobotStatePair

Protected Member Functions

void constructPlanningRequest (moveit_msgs::MotionPlanRequest &mreq)
void updateExternalCommunication ()
void updateSceneMarkers (float wall_dt, float ros_dt)

Protected Attributes

moveit_warehouse::ConstraintsStoragePtr constraints_storage_
rviz::DisplayContextcontext_
moveit::planning_interface::MoveGroup::PlanPtr current_plan_
moveit::planning_interface::MoveGroupPtr move_group_
MotionPlanningDisplayplanning_display_
moveit::planning_interface::PlanningSceneInterfacePtr planning_scene_interface_
moveit_warehouse::PlanningSceneStoragePtr planning_scene_storage_
moveit_warehouse::RobotStateStoragePtr robot_state_storage_
RobotStateMap robot_states_
boost::shared_ptr
< rviz::InteractiveMarker
scene_marker_
moveit::semantic_world::SemanticWorldPtr semantic_world_
Ui::MotionPlanningUI * ui_

Static Protected Attributes

static const int ITEM_TYPE_QUERY = 2
static const int ITEM_TYPE_SCENE = 1

Private Slots

void allowExternalProgramCommunication (bool enable)
void allowLookingToggled (bool checked)
void allowReplanningToggled (bool checked)
void approximateIKChanged (int state)
void clearSceneButtonClicked ()
void clearStatesButtonClicked ()
void collisionObjectChanged (QListWidgetItem *item)
void copySelectedCollisionObject ()
void databaseConnectButtonClicked ()
void deleteQueryButtonClicked ()
void deleteSceneButtonClicked ()
void detectedObjectChanged (QListWidgetItem *item)
void detectObjectsButtonClicked ()
void executeButtonClicked ()
void exportAsTextButtonClicked ()
void importFileButtonClicked ()
void importFromTextButtonClicked ()
void importUrlButtonClicked ()
void imProcessFeedback (visualization_msgs::InteractiveMarkerFeedback &feedback)
void loadQueryButtonClicked ()
void loadSceneButtonClicked ()
void loadStateButtonClicked ()
void objectPoseValueChanged (double value)
void onClearOctomapClicked ()
void pathConstraintsIndexChanged (int index)
void pickObjectButtonClicked ()
void placeObjectButtonClicked ()
void planAndExecuteButtonClicked ()
void planButtonClicked ()
void planningAlgorithmIndexChanged (int index)
void planningSceneItemClicked ()
void publishSceneButtonClicked ()
void removeObjectButtonClicked ()
void removeStateButtonClicked ()
void resetDbButtonClicked ()
void saveGoalStateButtonClicked ()
void saveQueryButtonClicked ()
void saveSceneButtonClicked ()
void saveStartStateButtonClicked ()
void sceneScaleChanged (int value)
void sceneScaleEndChange ()
void sceneScaleStartChange ()
void selectedCollisionObjectChanged ()
void selectedDetectedObjectChanged ()
void selectedSupportSurfaceChanged ()
void setAsGoalStateButtonClicked ()
void setAsStartStateButtonClicked ()
void stopButtonClicked ()
void tabChanged (int index)
void useGoalStateButtonClicked ()
void useStartStateButtonClicked ()
void warehouseItemNameChanged (QTreeWidgetItem *item, int column)

Private Member Functions

void addObject (const collision_detection::WorldPtr &world, const std::string &id, const shapes::ShapeConstPtr &shape, const Eigen::Affine3d &pose)
void attachDetachCollisionObject (QListWidgetItem *item)
void changePlanningGroupHelper ()
void checkPlanningSceneTreeEnabledButtons ()
void computeDatabaseConnectButtonClicked ()
void computeDatabaseConnectButtonClickedHelper (int mode)
void computeDeleteQueryButtonClicked ()
void computeDeleteQueryButtonClickedHelper (QTreeWidgetItem *s)
void computeDeleteSceneButtonClicked ()
void computeExecuteButtonClicked ()
void computeExportAsText (const std::string &path)
void computeImportFromText (const std::string &path)
void computeLoadQueryButtonClicked ()
void computeLoadSceneButtonClicked ()
void computePlanAndExecuteButtonClicked ()
void computePlanAndExecuteButtonClickedDisplayHelper ()
void computePlanButtonClicked ()
void computeResetDbButtonClicked (const std::string &db)
void computeSaveQueryButtonClicked (const std::string &scene, const std::string &query_name)
void computeSaveSceneButtonClicked ()
void computeStopButtonClicked ()
void configureForPlanning ()
void configureWorkspace ()
void createSceneInteractiveMarker ()
void fillStateSelectionOptions ()
void importResource (const std::string &path)
void listenDetectedObjects (const object_recognition_msgs::RecognizedObjectArrayPtr &msg)
void loadStoredStates (const std::string &pattern)
void onFinishedExecution (bool success)
void pickObject ()
void placeObject ()
void populateCollisionObjectsList ()
void populateConstraintsList ()
void populateConstraintsList (const std::vector< std::string > &constr)
void populatePlannersList (const moveit_msgs::PlannerInterfaceDescription &desc)
void populatePlanningSceneTreeView ()
void populateRobotStatesList ()
void processDetectedObjects ()
void publishTables ()
void remoteExecuteCallback (const std_msgs::EmptyConstPtr &msg)
void remotePlanCallback (const std_msgs::EmptyConstPtr &msg)
void remoteUpdateGoalStateCallback (const std_msgs::EmptyConstPtr &msg)
void remoteUpdateStartStateCallback (const std_msgs::EmptyConstPtr &msg)
void renameCollisionObject (QListWidgetItem *item)
void saveRobotStateButtonClicked (const robot_state::RobotState &state)
void setItemSelectionInList (const std::string &item_name, bool selection, QListWidget *list)
void triggerObjectDetection ()
void updateCollisionObjectPose (bool update_marker_position)
void updateDetectedObjectsList (const std::vector< std::string > &object_ids, const std::vector< std::string > &objects)
void updateQueryStateHelper (robot_state::RobotState &state, const std::string &v)
void updateSupportSurfacesList ()
void updateTables ()
template<typename T >
void waitForAction (const T &action, const ros::NodeHandle &node_handle, const ros::Duration &wait_for_server, const std::string &name)

Private Attributes

ros::ServiceClient clear_octomap_service_client_
ros::Subscriber execute_subscriber_
bool first_time_
std::vector< std::pair
< std::string, bool > > 
known_collision_objects_
long unsigned int known_collision_objects_version_
ros::NodeHandle nh_
boost::scoped_ptr
< actionlib::SimpleActionClient
< object_recognition_msgs::ObjectRecognitionAction > > 
object_recognition_client_
ros::Subscriber object_recognition_subscriber_
ros::Publisher object_recognition_trigger_publisher_
std::map< std::string,
std::string > 
pick_object_name_
std::string place_object_name_
std::vector
< geometry_msgs::PoseStamped > 
place_poses_
ros::Subscriber plan_subscriber_
ros::Publisher planning_scene_publisher_
ros::Publisher planning_scene_world_publisher_
collision_detection::CollisionWorld::ObjectConstPtr scaled_object_
std::string selected_object_name_
std::string selected_support_surface_name_
std::string support_surface_name_
ros::Subscriber update_goal_state_subscriber_
ros::Subscriber update_start_state_subscriber_

Friends

class MotionPlanningDisplay

Detailed Description

Definition at line 95 of file motion_planning_frame.h.


Member Typedef Documentation

typedef std::map<std::string, moveit_msgs::RobotState> moveit_rviz_plugin::MotionPlanningFrame::RobotStateMap [protected]

Definition at line 134 of file motion_planning_frame.h.

typedef std::pair<std::string, moveit_msgs::RobotState> moveit_rviz_plugin::MotionPlanningFrame::RobotStatePair [protected]

Definition at line 135 of file motion_planning_frame.h.


Constructor & Destructor Documentation

Definition at line 56 of file motion_planning_frame.cpp.

Definition at line 196 of file motion_planning_frame.cpp.


Member Function Documentation

void moveit_rviz_plugin::MotionPlanningFrame::addObject ( const collision_detection::WorldPtr &  world,
const std::string &  id,
const shapes::ShapeConstPtr shape,
const Eigen::Affine3d &  pose 
) [private]

Definition at line 669 of file motion_planning_frame_objects.cpp.

Definition at line 212 of file motion_planning_frame.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::allowLookingToggled ( bool  checked) [private, slot]

Definition at line 82 of file motion_planning_frame_planning.cpp.

Definition at line 76 of file motion_planning_frame_planning.cpp.

Definition at line 200 of file motion_planning_frame.cpp.

Definition at line 792 of file motion_planning_frame_objects.cpp.

Definition at line 337 of file motion_planning_frame.cpp.

Definition at line 276 of file motion_planning_frame.cpp.

Definition at line 528 of file motion_planning_frame_objects.cpp.

Definition at line 77 of file motion_planning_frame_objects.cpp.

Definition at line 246 of file motion_planning_frame_states.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::collisionObjectChanged ( QListWidgetItem *  item) [private, slot]

Definition at line 332 of file motion_planning_frame_objects.cpp.

Definition at line 110 of file motion_planning_frame_context.cpp.

Definition at line 153 of file motion_planning_frame_context.cpp.

Definition at line 494 of file motion_planning_frame_objects.cpp.

Definition at line 521 of file motion_planning_frame_objects.cpp.

Definition at line 456 of file motion_planning_frame_objects.cpp.

Definition at line 136 of file motion_planning_frame_planning.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::computeExportAsText ( const std::string &  path) [private]

Definition at line 912 of file motion_planning_frame_objects.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::computeImportFromText ( const std::string &  path) [private]

Definition at line 930 of file motion_planning_frame_objects.cpp.

Definition at line 618 of file motion_planning_frame_objects.cpp.

Definition at line 564 of file motion_planning_frame_objects.cpp.

Definition at line 146 of file motion_planning_frame_planning.cpp.

Definition at line 109 of file motion_planning_frame_planning.cpp.

Definition at line 209 of file motion_planning_frame_context.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::computeSaveQueryButtonClicked ( const std::string &  scene,
const std::string &  query_name 
) [private]

Definition at line 435 of file motion_planning_frame_objects.cpp.

Definition at line 415 of file motion_planning_frame_objects.cpp.

Definition at line 160 of file motion_planning_frame_planning.cpp.

Definition at line 383 of file motion_planning_frame_planning.cpp.

Definition at line 346 of file motion_planning_frame_planning.cpp.

Definition at line 323 of file motion_planning_frame_planning.cpp.

Definition at line 382 of file motion_planning_frame_objects.cpp.

Definition at line 683 of file motion_planning_frame_objects.cpp.

Definition at line 54 of file motion_planning_frame_context.cpp.

Definition at line 189 of file motion_planning_frame_scenes.cpp.

Definition at line 183 of file motion_planning_frame_scenes.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::detectedObjectChanged ( QListWidgetItem *  item) [private, slot]

Definition at line 116 of file motion_planning_frame_manipulation.cpp.

Definition at line 49 of file motion_planning_frame_manipulation.cpp.

Definition at line 456 of file motion_planning_frame.cpp.

Definition at line 444 of file motion_planning_frame.cpp.

Definition at line 55 of file motion_planning_frame_planning.cpp.

Definition at line 903 of file motion_planning_frame_objects.cpp.

Definition at line 235 of file motion_planning_frame.cpp.

Definition at line 61 of file motion_planning_frame_objects.cpp.

Definition at line 949 of file motion_planning_frame_objects.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::importResource ( const std::string &  path) [private]

Definition at line 349 of file motion_planning_frame.cpp.

Definition at line 68 of file motion_planning_frame_objects.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::imProcessFeedback ( visualization_msgs::InteractiveMarkerFeedback &  feedback) [private, slot]

Definition at line 349 of file motion_planning_frame_objects.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::listenDetectedObjects ( const object_recognition_msgs::RecognizedObjectArrayPtr &  msg) [private]

Definition at line 150 of file motion_planning_frame_manipulation.cpp.

Definition at line 201 of file motion_planning_frame_scenes.cpp.

Definition at line 195 of file motion_planning_frame_scenes.cpp.

Definition at line 59 of file motion_planning_frame_states.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::loadStoredStates ( const std::string &  pattern) [private]

Definition at line 78 of file motion_planning_frame_states.cpp.

Definition at line 292 of file motion_planning_frame_objects.cpp.

Definition at line 103 of file motion_planning_frame_planning.cpp.

Definition at line 166 of file motion_planning_frame_planning.cpp.

Definition at line 88 of file motion_planning_frame_planning.cpp.

Definition at line 333 of file motion_planning_frame_manipulation.cpp.

Definition at line 249 of file motion_planning_frame_manipulation.cpp.

Definition at line 352 of file motion_planning_frame_manipulation.cpp.

Definition at line 287 of file motion_planning_frame_manipulation.cpp.

Definition at line 62 of file motion_planning_frame_planning.cpp.

Definition at line 49 of file motion_planning_frame_planning.cpp.

Definition at line 71 of file motion_planning_frame_context.cpp.

Definition at line 114 of file motion_planning_frame_scenes.cpp.

Definition at line 845 of file motion_planning_frame_objects.cpp.

Definition at line 308 of file motion_planning_frame_planning.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::populateConstraintsList ( const std::vector< std::string > &  constr) [private]

Definition at line 315 of file motion_planning_frame_planning.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::populatePlannersList ( const moveit_msgs::PlannerInterfaceDescription &  desc) [private]

Definition at line 268 of file motion_planning_frame_planning.cpp.

Definition at line 255 of file motion_planning_frame_scenes.cpp.

Definition at line 49 of file motion_planning_frame_states.cpp.

Definition at line 67 of file motion_planning_frame_manipulation.cpp.

Definition at line 60 of file motion_planning_frame_context.cpp.

Definition at line 187 of file motion_planning_frame_manipulation.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::remoteExecuteCallback ( const std_msgs::EmptyConstPtr &  msg) [private]

Definition at line 401 of file motion_planning_frame_planning.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::remotePlanCallback ( const std_msgs::EmptyConstPtr &  msg) [private]

Definition at line 396 of file motion_planning_frame_planning.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::remoteUpdateGoalStateCallback ( const std_msgs::EmptyConstPtr &  msg) [private]

Definition at line 420 of file motion_planning_frame_planning.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::remoteUpdateStartStateCallback ( const std_msgs::EmptyConstPtr &  msg) [private]

Definition at line 406 of file motion_planning_frame_planning.cpp.

Definition at line 140 of file motion_planning_frame_objects.cpp.

Definition at line 209 of file motion_planning_frame_states.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::renameCollisionObject ( QListWidgetItem *  item) [private]

Definition at line 729 of file motion_planning_frame_objects.cpp.

Definition at line 82 of file motion_planning_frame_context.cpp.

Definition at line 180 of file motion_planning_frame_states.cpp.

Definition at line 119 of file motion_planning_frame_scenes.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::saveRobotStateButtonClicked ( const robot_state::RobotState &  state) [private]

Definition at line 122 of file motion_planning_frame_states.cpp.

Definition at line 63 of file motion_planning_frame_scenes.cpp.

Definition at line 175 of file motion_planning_frame_states.cpp.

Definition at line 92 of file motion_planning_frame_objects.cpp.

Definition at line 134 of file motion_planning_frame_objects.cpp.

Definition at line 119 of file motion_planning_frame_objects.cpp.

Definition at line 343 of file motion_planning_frame.cpp.

Definition at line 188 of file motion_planning_frame_objects.cpp.

Definition at line 92 of file motion_planning_frame_manipulation.cpp.

Definition at line 193 of file motion_planning_frame_manipulation.cpp.

Definition at line 197 of file motion_planning_frame_states.cpp.

Definition at line 185 of file motion_planning_frame_states.cpp.

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

Definition at line 205 of file motion_planning_frame.cpp.

Definition at line 70 of file motion_planning_frame_planning.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::tabChanged ( int  index) [private, slot]

Definition at line 463 of file motion_planning_frame.cpp.

Definition at line 120 of file motion_planning_frame_manipulation.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::updateCollisionObjectPose ( bool  update_marker_position) [private]

Definition at line 297 of file motion_planning_frame_objects.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::updateDetectedObjectsList ( const std::vector< std::string > &  object_ids,
const std::vector< std::string > &  objects 
) [private]

Definition at line 156 of file motion_planning_frame_manipulation.cpp.

Definition at line 477 of file motion_planning_frame.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::updateQueryStateHelper ( robot_state::RobotState &  state,
const std::string &  v 
) [private]

Definition at line 198 of file motion_planning_frame_planning.cpp.

void moveit_rviz_plugin::MotionPlanningFrame::updateSceneMarkers ( float  wall_dt,
float  ros_dt 
) [protected]

Definition at line 471 of file motion_planning_frame.cpp.

Definition at line 217 of file motion_planning_frame_manipulation.cpp.

Definition at line 181 of file motion_planning_frame_manipulation.cpp.

Definition at line 191 of file motion_planning_frame_planning.cpp.

Definition at line 184 of file motion_planning_frame_planning.cpp.

template<typename T >
void moveit_rviz_plugin::MotionPlanningFrame::waitForAction ( const T action,
const ros::NodeHandle node_handle,
const ros::Duration wait_for_server,
const std::string &  name 
) [private]

Definition at line 313 of file motion_planning_frame.h.

void moveit_rviz_plugin::MotionPlanningFrame::warehouseItemNameChanged ( QTreeWidgetItem *  item,
int  column 
) [private, slot]

Definition at line 207 of file motion_planning_frame_scenes.cpp.


Friends And Related Function Documentation

friend class MotionPlanningDisplay [friend]

Definition at line 97 of file motion_planning_frame.h.


Member Data Documentation

Definition at line 308 of file motion_planning_frame.h.

moveit_warehouse::ConstraintsStoragePtr moveit_rviz_plugin::MotionPlanningFrame::constraints_storage_ [protected]

Definition at line 129 of file motion_planning_frame.h.

Definition at line 120 of file motion_planning_frame.h.

moveit::planning_interface::MoveGroup::PlanPtr moveit_rviz_plugin::MotionPlanningFrame::current_plan_ [protected]

Definition at line 127 of file motion_planning_frame.h.

Definition at line 283 of file motion_planning_frame.h.

Definition at line 307 of file motion_planning_frame.h.

Definition at line 111 of file motion_planning_frame.h.

Definition at line 110 of file motion_planning_frame.h.

std::vector<std::pair<std::string, bool> > moveit_rviz_plugin::MotionPlanningFrame::known_collision_objects_ [private]

Definition at line 305 of file motion_planning_frame.h.

Definition at line 306 of file motion_planning_frame.h.

moveit::planning_interface::MoveGroupPtr moveit_rviz_plugin::MotionPlanningFrame::move_group_ [protected]

Definition at line 123 of file motion_planning_frame.h.

Definition at line 299 of file motion_planning_frame.h.

boost::scoped_ptr<actionlib::SimpleActionClient<object_recognition_msgs::ObjectRecognitionAction> > moveit_rviz_plugin::MotionPlanningFrame::object_recognition_client_ [private]

Definition at line 275 of file motion_planning_frame.h.

Definition at line 280 of file motion_planning_frame.h.

Definition at line 261 of file motion_planning_frame.h.

std::map<std::string, std::string> moveit_rviz_plugin::MotionPlanningFrame::pick_object_name_ [private]

Definition at line 262 of file motion_planning_frame.h.

Definition at line 263 of file motion_planning_frame.h.

std::vector<geometry_msgs::PoseStamped> moveit_rviz_plugin::MotionPlanningFrame::place_poses_ [private]

Definition at line 264 of file motion_planning_frame.h.

Definition at line 282 of file motion_planning_frame.h.

Definition at line 119 of file motion_planning_frame.h.

moveit::planning_interface::PlanningSceneInterfacePtr moveit_rviz_plugin::MotionPlanningFrame::planning_scene_interface_ [protected]

Definition at line 124 of file motion_planning_frame.h.

Definition at line 300 of file motion_planning_frame.h.

moveit_warehouse::PlanningSceneStoragePtr moveit_rviz_plugin::MotionPlanningFrame::planning_scene_storage_ [protected]

Definition at line 128 of file motion_planning_frame.h.

Definition at line 301 of file motion_planning_frame.h.

moveit_warehouse::RobotStateStoragePtr moveit_rviz_plugin::MotionPlanningFrame::robot_state_storage_ [protected]

Definition at line 130 of file motion_planning_frame.h.

Definition at line 136 of file motion_planning_frame.h.

Definition at line 303 of file motion_planning_frame.h.

Definition at line 132 of file motion_planning_frame.h.

Definition at line 271 of file motion_planning_frame.h.

Definition at line 272 of file motion_planning_frame.h.

moveit::semantic_world::SemanticWorldPtr moveit_rviz_plugin::MotionPlanningFrame::semantic_world_ [protected]

Definition at line 125 of file motion_planning_frame.h.

Definition at line 269 of file motion_planning_frame.h.

Ui::MotionPlanningUI* moveit_rviz_plugin::MotionPlanningFrame::ui_ [protected]

Definition at line 121 of file motion_planning_frame.h.

Definition at line 285 of file motion_planning_frame.h.

Definition at line 284 of file motion_planning_frame.h.


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


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Mon Jul 24 2017 02:22:14