#include <footstep_marker.h>

Public Types
typedef jsk_interactive_marker::FootstepMarkerConfig	Config

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

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

typedef jsk_footstep_msgs::PlanFootstepsResult	PlanResult

Public Member Functions
	FootstepMarker ()

void	updateInitialFootstep ()

virtual	~FootstepMarker ()

Protected Member Functions
void	callEstimateOcclusion ()

void	cancelWalk ()

void	changePlannerHeuristic (const std::string &heuristic)

geometry_msgs::Pose	computeLegTransformation (uint8_t leg)

geometry_msgs::Polygon	computePolygon (uint8_t leg)

void	configCallback (Config &config, uint32_t level)

void	executeCB (const std_msgs::Empty::ConstPtr &msg)

void	executeFootstep ()

bool	forceToReplan (std_srvs::Empty::Request &req, std_srvs::Empty::Request &res)

geometry_msgs::Pose	getFootstepPose (bool leftp)

void	initializeInteractiveMarker ()

void	lookGround ()

visualization_msgs::Marker	makeFootstepMarker (geometry_msgs::Pose pose)

void	menuCommandCB (const std_msgs::UInt8::ConstPtr &msg)

void	menuFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)

void	moveMarkerCB (const geometry_msgs::PoseStamped::ConstPtr &msg)

void	planDoneCB (const actionlib::SimpleClientGoalState &state, const PlanResult::ConstPtr &result)

void	planIfPossible ()

void	processFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)

void	processMenuFeedback (uint8_t id)

void	projectionCallback (const geometry_msgs::PoseStamped &pose)

bool	projectMarkerToPlane ()

void	readPoseParam (ros::NodeHandle &pnh, const std::string param, tf::Transform &offset)

void	resetLegPoses ()

void	resumeCB (const std_msgs::Empty::ConstPtr &msg)

void	resumeFootstep ()

void	snapLegs ()

Protected Attributes
PlanningActionClient	ac_

ExecuteActionClient	ac_exec_

bool	always_planning_

ros::Publisher	current_pose_pub_

ros::ServiceClient	estimate_occlusion_client_

ros::Subscriber	exec_sub_

double	foot_size_x_

double	foot_size_y_

double	foot_size_z_

double	footstep_margin_

ros::Publisher	footstep_pub_

std::string	initial_reference_frame_

jsk_recognition_msgs::SimpleOccupancyGridArray::ConstPtr	latest_grids_

std::string	lfoot_frame_id_

bool	lleg_first_

geometry_msgs::Pose	lleg_initial_pose_

tf::Transform	lleg_offset_

geometry_msgs::Pose	lleg_pose_

std::string	marker_frame_id_

geometry_msgs::PoseStamped	marker_pose_

ros::Subscriber	menu_command_sub_

interactive_markers::MenuHandler	menu_handler_

ros::Subscriber	move_marker_sub_

ros::ServiceServer	plan_if_possible_srv_

PlanResult::ConstPtr	plan_result_

bool	plan_run_

boost::mutex	plan_run_mutex_

boost::mutex	plane_mutex_

ros::Publisher	project_footprint_pub_

ros::Subscriber	projection_sub_

ros::Subscriber	resume_sub_

std::string	rfoot_frame_id_

geometry_msgs::Pose	rleg_initial_pose_

tf::Transform	rleg_offset_

geometry_msgs::Pose	rleg_pose_

std::shared_ptr< interactive_markers::InteractiveMarkerServer >	server_

bool	show_6dof_control_

ros::ServiceClient	snapit_client_

ros::Publisher	snapped_pose_pub_

std::shared_ptr< dynamic_reconfigure::Server< Config > >	srv_

std::shared_ptr< tf::TransformListener >	tf_listener_

bool	use_2d_

bool	use_footstep_controller_

bool	use_footstep_planner_

bool	use_initial_footstep_tf_

bool	use_initial_reference_

bool	use_plane_snap_

bool	use_projection_service_

bool	use_projection_topic_

bool	wait_snapit_server_

Detailed Description

Definition at line 64 of file footstep_marker.h.

Member Typedef Documentation

typedef jsk_interactive_marker::FootstepMarkerConfig FootstepMarker::Config

Definition at line 66 of file footstep_marker.h.

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

Definition at line 73 of file footstep_marker.h.

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

Definition at line 71 of file footstep_marker.h.

typedef jsk_footstep_msgs::PlanFootstepsResult FootstepMarker::PlanResult

Definition at line 74 of file footstep_marker.h.

Constructor & Destructor Documentation

FootstepMarker::FootstepMarker ( )

Definition at line 57 of file footstep_marker.cpp.

FootstepMarker::~FootstepMarker ( )

virtual

Definition at line 834 of file footstep_marker.cpp.

Member Function Documentation

void FootstepMarker::callEstimateOcclusion ( )

protected

Definition at line 486 of file footstep_marker.cpp.

void FootstepMarker::cancelWalk ( )

protected

Definition at line 479 of file footstep_marker.cpp.

void FootstepMarker::changePlannerHeuristic ( const std::string & heuristic )

protected

Definition at line 467 of file footstep_marker.cpp.

geometry_msgs::Pose FootstepMarker::computeLegTransformation ( uint8_t leg )

protected

Definition at line 297 of file footstep_marker.cpp.

geometry_msgs::Polygon FootstepMarker::computePolygon ( uint8_t leg )

protected

Definition at line 334 of file footstep_marker.cpp.

void FootstepMarker::configCallback	(	Config &	config,
		uint32_t	level
	)

protected

Definition at line 224 of file footstep_marker.cpp.

void FootstepMarker::executeCB ( const std_msgs::Empty::ConstPtr & msg )

protected

Definition at line 367 of file footstep_marker.cpp.

void FootstepMarker::executeFootstep ( )

protected

Definition at line 599 of file footstep_marker.cpp.

bool FootstepMarker::forceToReplan	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Request &	res
	)

protected

Definition at line 416 of file footstep_marker.cpp.

geometry_msgs::Pose FootstepMarker::getFootstepPose ( bool leftp )

protected

Definition at line 692 of file footstep_marker.cpp.

void FootstepMarker::initializeInteractiveMarker ( )

protected

Definition at line 759 of file footstep_marker.cpp.

void FootstepMarker::lookGround ( )

protected

Definition at line 405 of file footstep_marker.cpp.

visualization_msgs::Marker FootstepMarker::makeFootstepMarker ( geometry_msgs::Pose pose )

protected

Definition at line 748 of file footstep_marker.cpp.

void FootstepMarker::menuCommandCB ( const std_msgs::UInt8::ConstPtr & msg )

protected

Definition at line 375 of file footstep_marker.cpp.

void FootstepMarker::menuFeedbackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

protected

Definition at line 540 of file footstep_marker.cpp.

void FootstepMarker::moveMarkerCB ( const geometry_msgs::PoseStamped::ConstPtr & msg )

protected

Definition at line 724 of file footstep_marker.cpp.

void FootstepMarker::planDoneCB	(	const actionlib::SimpleClientGoalState &	state,
		const PlanResult::ConstPtr &	result
	)

protected

Definition at line 681 of file footstep_marker.cpp.

void FootstepMarker::planIfPossible ( )

protected

Definition at line 623 of file footstep_marker.cpp.

void FootstepMarker::processFeedbackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

protected

Definition at line 544 of file footstep_marker.cpp.

void FootstepMarker::processMenuFeedback ( uint8_t id )

protected

Definition at line 422 of file footstep_marker.cpp.

void FootstepMarker::projectionCallback ( const geometry_msgs::PoseStamped & pose )

protected

Definition at line 582 of file footstep_marker.cpp.

bool FootstepMarker::projectMarkerToPlane ( )

protected

Definition at line 492 of file footstep_marker.cpp.

void FootstepMarker::readPoseParam	(	ros::NodeHandle &	pnh,
		const std::string	param,
		tf::Transform &	offset
	)

protected

Definition at line 247 of file footstep_marker.cpp.

void FootstepMarker::resetLegPoses ( )

protected

Definition at line 279 of file footstep_marker.cpp.

void FootstepMarker::resumeCB ( const std_msgs::Empty::ConstPtr & msg )

protected

Definition at line 371 of file footstep_marker.cpp.

void FootstepMarker::resumeFootstep ( )

protected

Definition at line 568 of file footstep_marker.cpp.

void FootstepMarker::snapLegs ( )

protected

Definition at line 325 of file footstep_marker.cpp.

void FootstepMarker::updateInitialFootstep ( )

Definition at line 379 of file footstep_marker.cpp.

Member Data Documentation

PlanningActionClient FootstepMarker::ac_

protected

Definition at line 142 of file footstep_marker.h.

ExecuteActionClient FootstepMarker::ac_exec_

protected

Definition at line 143 of file footstep_marker.h.

bool FootstepMarker::always_planning_

protected

Definition at line 154 of file footstep_marker.h.

ros::Publisher FootstepMarker::current_pose_pub_

protected

Definition at line 136 of file footstep_marker.h.

ros::ServiceClient FootstepMarker::estimate_occlusion_client_

protected

Definition at line 139 of file footstep_marker.h.

ros::Subscriber FootstepMarker::exec_sub_

protected

Definition at line 131 of file footstep_marker.h.

double FootstepMarker::foot_size_x_

protected

Definition at line 123 of file footstep_marker.h.

double FootstepMarker::foot_size_y_

protected

Definition at line 124 of file footstep_marker.h.

double FootstepMarker::foot_size_z_

protected

Definition at line 125 of file footstep_marker.h.

double FootstepMarker::footstep_margin_

protected

Definition at line 126 of file footstep_marker.h.

ros::Publisher FootstepMarker::footstep_pub_

protected

Definition at line 137 of file footstep_marker.h.

std::string FootstepMarker::initial_reference_frame_

protected

Definition at line 157 of file footstep_marker.h.

jsk_recognition_msgs::SimpleOccupancyGridArray::ConstPtr FootstepMarker::latest_grids_

protected

Definition at line 104 of file footstep_marker.h.

std::string FootstepMarker::lfoot_frame_id_

protected

Definition at line 164 of file footstep_marker.h.

bool FootstepMarker::lleg_first_

protected

Definition at line 155 of file footstep_marker.h.

geometry_msgs::Pose FootstepMarker::lleg_initial_pose_

protected

Definition at line 160 of file footstep_marker.h.

tf::Transform FootstepMarker::lleg_offset_

protected

Definition at line 162 of file footstep_marker.h.

geometry_msgs::Pose FootstepMarker::lleg_pose_

protected

Definition at line 158 of file footstep_marker.h.

std::string FootstepMarker::marker_frame_id_

protected

Definition at line 127 of file footstep_marker.h.

geometry_msgs::PoseStamped FootstepMarker::marker_pose_

protected

Definition at line 128 of file footstep_marker.h.

ros::Subscriber FootstepMarker::menu_command_sub_

protected

Definition at line 130 of file footstep_marker.h.

interactive_markers::MenuHandler FootstepMarker::menu_handler_

protected

Definition at line 122 of file footstep_marker.h.

ros::Subscriber FootstepMarker::move_marker_sub_

protected

Definition at line 129 of file footstep_marker.h.

ros::ServiceServer FootstepMarker::plan_if_possible_srv_

protected

Definition at line 140 of file footstep_marker.h.

PlanResult::ConstPtr FootstepMarker::plan_result_

protected

Definition at line 168 of file footstep_marker.h.

bool FootstepMarker::plan_run_

protected

Definition at line 149 of file footstep_marker.h.

boost::mutex FootstepMarker::plan_run_mutex_

protected

Definition at line 99 of file footstep_marker.h.

boost::mutex FootstepMarker::plane_mutex_

protected

Definition at line 98 of file footstep_marker.h.

ros::Publisher FootstepMarker::project_footprint_pub_

protected

Definition at line 134 of file footstep_marker.h.

ros::Subscriber FootstepMarker::projection_sub_

protected

Definition at line 133 of file footstep_marker.h.

ros::Subscriber FootstepMarker::resume_sub_

protected

Definition at line 132 of file footstep_marker.h.

std::string FootstepMarker::rfoot_frame_id_

protected

Definition at line 165 of file footstep_marker.h.

geometry_msgs::Pose FootstepMarker::rleg_initial_pose_

protected

Definition at line 161 of file footstep_marker.h.

tf::Transform FootstepMarker::rleg_offset_

protected

Definition at line 163 of file footstep_marker.h.

geometry_msgs::Pose FootstepMarker::rleg_pose_

protected

Definition at line 159 of file footstep_marker.h.

std::shared_ptr<interactive_markers::InteractiveMarkerServer> FootstepMarker::server_

protected

Definition at line 121 of file footstep_marker.h.

bool FootstepMarker::show_6dof_control_

protected

Definition at line 146 of file footstep_marker.h.

ros::ServiceClient FootstepMarker::snapit_client_

protected

Definition at line 138 of file footstep_marker.h.

ros::Publisher FootstepMarker::snapped_pose_pub_

protected

Definition at line 135 of file footstep_marker.h.

std::shared_ptr<dynamic_reconfigure::Server<Config> > FootstepMarker::srv_

protected

Definition at line 100 of file footstep_marker.h.

std::shared_ptr<tf::TransformListener> FootstepMarker::tf_listener_

protected

Definition at line 141 of file footstep_marker.h.

bool FootstepMarker::use_2d_

protected

Definition at line 156 of file footstep_marker.h.

bool FootstepMarker::use_footstep_controller_

protected

Definition at line 148 of file footstep_marker.h.

bool FootstepMarker::use_footstep_planner_

protected

Definition at line 147 of file footstep_marker.h.

bool FootstepMarker::use_initial_footstep_tf_

protected

Definition at line 152 of file footstep_marker.h.

bool FootstepMarker::use_initial_reference_

protected

Definition at line 153 of file footstep_marker.h.

bool FootstepMarker::use_plane_snap_

protected

Definition at line 150 of file footstep_marker.h.

bool FootstepMarker::use_projection_service_

protected

Definition at line 144 of file footstep_marker.h.

bool FootstepMarker::use_projection_topic_

protected

Definition at line 145 of file footstep_marker.h.

bool FootstepMarker::wait_snapit_server_

protected

Definition at line 151 of file footstep_marker.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation