ObstacleDistanceMoveit Class Reference

#include <obstacle_distance_moveit.h>

Public Member Functions
	ObstacleDistanceMoveit ()

Private Member Functions
bool	calculateDistanceServiceCallback (cob_control_msgs::GetObstacleDistance::Request &req, cob_control_msgs::GetObstacleDistance::Response &res)
void	calculateDistanceTimerCallback (const ros::TimerEvent &event)
cob_control_msgs::ObstacleDistance	getDistanceInfo (const std::shared_ptr< fcl::CollisionObject > object_a, const std::shared_ptr< fcl::CollisionObject > object_b)
bool	planningSceneCallback (moveit_msgs::GetPlanningScene::Request &req, moveit_msgs::GetPlanningScene::Response &res)
void	planningSceneTimerCallback (const ros::TimerEvent &event)
bool	registerCallback (cob_srvs::SetString::Request &req, cob_srvs::SetString::Response &res)
bool	unregisterCallback (cob_srvs::SetString::Request &req, cob_srvs::SetString::Response &res)
void	updatedScene (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType type)

Private Attributes
collision_detection::AllowedCollisionMatrix	acm_
ros::ServiceServer	calculate_obstacle_distance_
std::map< std::string, std::shared_ptr< fcl::CollisionObject > >	collision_objects_
ros::Publisher	distance_pub_
ros::Timer	distance_timer_
float	MAXIMAL_MINIMAL_DISTANCE
ros::Publisher	monitored_scene_pub_
ros::ServiceServer	monitored_scene_server_
ros::NodeHandle	nh_
planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_
ros::Timer	planning_scene_timer_
ros::ServiceServer	register_server_
std::set< std::string >	registered_links_
boost::mutex	registered_links_mutex_
std::map< std::string, std::shared_ptr< fcl::CollisionObject > >	robot_links_
ros::ServiceServer	unregister_server_

Detailed Description

Definition at line 40 of file obstacle_distance_moveit.h.

Constructor & Destructor Documentation

ObstacleDistanceMoveit::ObstacleDistanceMoveit

(

)

Definition at line 361 of file obstacle_distance_moveit.cpp.

Member Function Documentation

bool ObstacleDistanceMoveit::calculateDistanceServiceCallback ( cob_control_msgs::GetObstacleDistance::Request &  req, cob_control_msgs::GetObstacleDistance::Response &  res  )

private

Definition at line 224 of file obstacle_distance_moveit.cpp.

void ObstacleDistanceMoveit::calculateDistanceTimerCallback ( const ros::TimerEvent &  event )

private

Definition at line 136 of file obstacle_distance_moveit.cpp.

cob_control_msgs::ObstacleDistance ObstacleDistanceMoveit::getDistanceInfo ( const std::shared_ptr< fcl::CollisionObject >  object_a, const std::shared_ptr< fcl::CollisionObject >  object_b  )

private

Definition at line 268 of file obstacle_distance_moveit.cpp.

bool ObstacleDistanceMoveit::planningSceneCallback ( moveit_msgs::GetPlanningScene::Request &  req, moveit_msgs::GetPlanningScene::Response &  res  )

private

Definition at line 93 of file obstacle_distance_moveit.cpp.

void ObstacleDistanceMoveit::planningSceneTimerCallback ( const ros::TimerEvent &  event )

private

Definition at line 213 of file obstacle_distance_moveit.cpp.

bool ObstacleDistanceMoveit::registerCallback ( cob_srvs::SetString::Request &  req, cob_srvs::SetString::Response &  res  )

private

Definition at line 103 of file obstacle_distance_moveit.cpp.

bool ObstacleDistanceMoveit::unregisterCallback ( cob_srvs::SetString::Request &  req, cob_srvs::SetString::Response &  res  )

private

Definition at line 114 of file obstacle_distance_moveit.cpp.

void ObstacleDistanceMoveit::updatedScene ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType  type )

private

Definition at line 62 of file obstacle_distance_moveit.cpp.

Member Data Documentation

collision_detection::AllowedCollisionMatrix ObstacleDistanceMoveit::acm_

private

Definition at line 78 of file obstacle_distance_moveit.h.

ros::ServiceServer ObstacleDistanceMoveit::calculate_obstacle_distance_

private

Definition at line 63 of file obstacle_distance_moveit.h.

std::map<std::string, std::shared_ptr<fcl::CollisionObject> > ObstacleDistanceMoveit::collision_objects_

private

Definition at line 59 of file obstacle_distance_moveit.h.

ros::Publisher ObstacleDistanceMoveit::distance_pub_

private

Definition at line 67 of file obstacle_distance_moveit.h.

ros::Timer ObstacleDistanceMoveit::distance_timer_

private

Definition at line 72 of file obstacle_distance_moveit.h.

float ObstacleDistanceMoveit::MAXIMAL_MINIMAL_DISTANCE

private

Definition at line 47 of file obstacle_distance_moveit.h.

ros::Publisher ObstacleDistanceMoveit::monitored_scene_pub_

private

Definition at line 53 of file obstacle_distance_moveit.h.

ros::ServiceServer ObstacleDistanceMoveit::monitored_scene_server_

private

Definition at line 54 of file obstacle_distance_moveit.h.

ros::NodeHandle ObstacleDistanceMoveit::nh_

private

Definition at line 46 of file obstacle_distance_moveit.h.

planning_scene_monitor::PlanningSceneMonitorPtr ObstacleDistanceMoveit::planning_scene_monitor_

private

Definition at line 49 of file obstacle_distance_moveit.h.

ros::Timer ObstacleDistanceMoveit::planning_scene_timer_

private

Definition at line 52 of file obstacle_distance_moveit.h.

ros::ServiceServer ObstacleDistanceMoveit::register_server_

private

Definition at line 68 of file obstacle_distance_moveit.h.

std::set< std::string > ObstacleDistanceMoveit::registered_links_

private

Definition at line 60 of file obstacle_distance_moveit.h.

boost::mutex ObstacleDistanceMoveit::registered_links_mutex_

private

Definition at line 61 of file obstacle_distance_moveit.h.

std::map<std::string, std::shared_ptr<fcl::CollisionObject> > ObstacleDistanceMoveit::robot_links_

private

Definition at line 58 of file obstacle_distance_moveit.h.

ros::ServiceServer ObstacleDistanceMoveit::unregister_server_

private

Definition at line 68 of file obstacle_distance_moveit.h.

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

• obstacle_distance_moveit.h
• obstacle_distance_moveit.cpp