trajectory_monitor.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_PLANNING_SCENE_MONITOR_TRAJECTORY_MONITOR_
38 #define MOVEIT_PLANNING_SCENE_MONITOR_TRAJECTORY_MONITOR_
39 
43 #include <boost/thread.hpp>
44 #include <memory>
45 
46 namespace planning_scene_monitor
47 {
48 typedef boost::function<void(const robot_state::RobotStateConstPtr& state, const ros::Time& stamp)>
50 
52 
56 {
57 public:
60  TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor, double sampling_frequency = 5.0);
61 
63 
65 
66  void stopTrajectoryMonitor();
67 
68  void clearTrajectory();
69 
70  bool isActive() const;
71 
72  double getSamplingFrequency() const
73  {
74  return sampling_frequency_;
75  }
76 
77  void setSamplingFrequency(double sampling_frequency);
78 
82  {
83  return trajectory_;
84  }
85 
87  {
88  trajectory_.swap(other);
89  }
90 
92  {
93  state_add_callback_ = callback;
94  }
95 
96 private:
97  void recordStates();
98 
99  CurrentStateMonitorConstPtr current_state_monitor_;
101 
105 
106  std::unique_ptr<boost::thread> record_states_thread_;
108 };
109 }
110 
111 #endif
void swap(robot_trajectory::RobotTrajectory &other)
void setOnStateAddCallback(const TrajectoryStateAddedCallback &callback)
std::unique_ptr< boost::thread > record_states_thread_
robot_trajectory::RobotTrajectory trajectory_
TrajectoryStateAddedCallback state_add_callback_
const robot_trajectory::RobotTrajectory & getTrajectory()
CurrentStateMonitorConstPtr current_state_monitor_
TrajectoryMonitor(const CurrentStateMonitorConstPtr &state_monitor, double sampling_frequency=5.0)
Constructor.
MOVEIT_CLASS_FORWARD(CurrentStateMonitor)
Monitors the joint_states topic and tf to record the trajectory of the robot.
void setSamplingFrequency(double sampling_frequency)
boost::function< void(const robot_state::RobotStateConstPtr &state, const ros::Time &stamp)> TrajectoryStateAddedCallback
void swapTrajectory(robot_trajectory::RobotTrajectory &other)


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sun Oct 18 2020 13:17:34