#include <imarker_robot_state.h>

Public Member Functions
IMarkerEndEffectorPtr	getEEF (const std::string &name)

bool	getFilePath (std::string &file_path, const std::string &file_name, const std::string &subdirectory) const

moveit::core::RobotStateConstPtr	getRobotState ()
	Get a pointer to the current robot state. More...

moveit::core::RobotStatePtr	getRobotStateNonConst ()

moveit_visual_tools::MoveItVisualToolsPtr	getVisualTools ()

	IMarkerRobotState (planning_scene_monitor::PlanningSceneMonitorPtr psm, const std::string &imarker_name, std::vector< ArmData > arm_datas, rviz_visual_tools::colors color, const std::string &package_path)
	Constructor. More...

bool	isStateValid (bool verbose=false)
	Return true if the currently solved IK solution is valid. More...

bool	loadFromFile (const std::string &file_name)

void	publishRobotState ()
	Show current state in Rviz. More...

bool	saveToFile ()

bool	setFromPoses (const EigenSTL::vector_Affine3d poses, const moveit::core::JointModelGroup *group)

void	setIMarkerCallback (IMarkerCallback callback)
	Set where in the parent class the feedback should be sent. More...

void	setRobotState (moveit::core::RobotStatePtr state)
	Set the robot state. More...

void	setToCurrentState ()
	Set the robot state to current in planning scene monitor. More...

bool	setToRandomState (double clearance=0)
	Set the robot to a random position. More...

	~IMarkerRobotState ()

Protected Attributes
std::vector< ArmData >	arm_datas_

rviz_visual_tools::colors	color_ = rviz_visual_tools::PURPLE

std::vector< IMarkerEndEffectorPtr >	end_effectors_

std::string	file_path_

InteractiveMarkerServerPtr	imarker_server_

moveit::core::RobotStatePtr	imarker_state_

std::string	name_

std::map< std::string, IMarkerEndEffectorPtr >	name_to_eef_

ros::NodeHandle	nh_

std::ofstream	output_file_

std::string	package_path_

planning_scene_monitor::PlanningSceneMonitorPtr	psm_

std::size_t	refresh_rate_ = 30

moveit_visual_tools::MoveItVisualToolsPtr	visual_tools_

Friends
class	IMarkerEndEffector

Detailed Description

Definition at line 80 of file imarker_robot_state.h.

Constructor & Destructor Documentation

moveit_visual_tools::IMarkerRobotState::IMarkerRobotState	(	planning_scene_monitor::PlanningSceneMonitorPtr	psm,
		const std::string &	imarker_name,
		std::vector< ArmData >	arm_datas,
		rviz_visual_tools::colors	color,
		const std::string &	package_path
	)

Constructor.

Definition at line 53 of file imarker_robot_state.cpp.

moveit_visual_tools::IMarkerRobotState::~IMarkerRobotState ( )

inline

Definition at line 91 of file imarker_robot_state.h.

Member Function Documentation

IMarkerEndEffectorPtr moveit_visual_tools::IMarkerRobotState::getEEF ( const std::string & name )

inline

Definition at line 136 of file imarker_robot_state.h.

bool moveit_visual_tools::IMarkerRobotState::getFilePath	(	std::string &	file_path,
		const std::string &	file_name,
		const std::string &	subdirectory
	)		const

Definition at line 247 of file imarker_robot_state.cpp.

moveit::core::RobotStateConstPtr moveit_visual_tools::IMarkerRobotState::getRobotState ( )

inline

Get a pointer to the current robot state.

Definition at line 104 of file imarker_robot_state.h.

moveit::core::RobotStatePtr moveit_visual_tools::IMarkerRobotState::getRobotStateNonConst ( )

inline

Definition at line 108 of file imarker_robot_state.h.

moveit_visual_tools::MoveItVisualToolsPtr moveit_visual_tools::IMarkerRobotState::getVisualTools ( )

Definition at line 242 of file imarker_robot_state.cpp.

bool moveit_visual_tools::IMarkerRobotState::isStateValid ( bool verbose = false )

Return true if the currently solved IK solution is valid.

Definition at line 221 of file imarker_robot_state.cpp.

bool moveit_visual_tools::IMarkerRobotState::loadFromFile ( const std::string & file_name )

Definition at line 106 of file imarker_robot_state.cpp.

void moveit_visual_tools::IMarkerRobotState::publishRobotState ( )

Show current state in Rviz.

Definition at line 237 of file imarker_robot_state.cpp.

bool moveit_visual_tools::IMarkerRobotState::saveToFile ( )

Definition at line 129 of file imarker_robot_state.cpp.

bool moveit_visual_tools::IMarkerRobotState::setFromPoses	(	const EigenSTL::vector_Affine3d	poses,
		const moveit::core::JointModelGroup *	group
	)

Definition at line 275 of file imarker_robot_state.cpp.

void moveit_visual_tools::IMarkerRobotState::setIMarkerCallback ( IMarkerCallback callback )

Set where in the parent class the feedback should be sent.

Definition at line 138 of file imarker_robot_state.cpp.

void moveit_visual_tools::IMarkerRobotState::setRobotState ( moveit::core::RobotStatePtr state )

Set the robot state.

Definition at line 144 of file imarker_robot_state.cpp.

void moveit_visual_tools::IMarkerRobotState::setToCurrentState ( )

Set the robot state to current in planning scene monitor.

Definition at line 154 of file imarker_robot_state.cpp.

bool moveit_visual_tools::IMarkerRobotState::setToRandomState ( double clearance = 0 )

Set the robot to a random position.

Parameters

clearance - optional value to ensure random state is not too close to obstacles. 0 is disable

Returns: true on success

Definition at line 168 of file imarker_robot_state.cpp.

Friends And Related Function Documentation

friend class IMarkerEndEffector

friend

Definition at line 82 of file imarker_robot_state.h.

Member Data Documentation

std::vector<ArmData> moveit_visual_tools::IMarkerRobotState::arm_datas_

protected

Definition at line 156 of file imarker_robot_state.h.

rviz_visual_tools::colors moveit_visual_tools::IMarkerRobotState::color_ = rviz_visual_tools::PURPLE

protected

Definition at line 168 of file imarker_robot_state.h.

std::vector<IMarkerEndEffectorPtr> moveit_visual_tools::IMarkerRobotState::end_effectors_

protected

Definition at line 157 of file imarker_robot_state.h.

std::string moveit_visual_tools::IMarkerRobotState::file_path_

protected

Definition at line 174 of file imarker_robot_state.h.

InteractiveMarkerServerPtr moveit_visual_tools::IMarkerRobotState::imarker_server_

protected

Definition at line 171 of file imarker_robot_state.h.

moveit::core::RobotStatePtr moveit_visual_tools::IMarkerRobotState::imarker_state_

protected

Definition at line 153 of file imarker_robot_state.h.

std::string moveit_visual_tools::IMarkerRobotState::name_

protected

Definition at line 147 of file imarker_robot_state.h.

std::map<std::string, IMarkerEndEffectorPtr> moveit_visual_tools::IMarkerRobotState::name_to_eef_

protected

Definition at line 158 of file imarker_robot_state.h.

ros::NodeHandle moveit_visual_tools::IMarkerRobotState::nh_

protected

Definition at line 150 of file imarker_robot_state.h.

std::ofstream moveit_visual_tools::IMarkerRobotState::output_file_

protected

Definition at line 175 of file imarker_robot_state.h.

std::string moveit_visual_tools::IMarkerRobotState::package_path_

protected

Definition at line 176 of file imarker_robot_state.h.

planning_scene_monitor::PlanningSceneMonitorPtr moveit_visual_tools::IMarkerRobotState::psm_

protected

Definition at line 161 of file imarker_robot_state.h.

std::size_t moveit_visual_tools::IMarkerRobotState::refresh_rate_ = 30

protected

Definition at line 167 of file imarker_robot_state.h.

moveit_visual_tools::MoveItVisualToolsPtr moveit_visual_tools::IMarkerRobotState::visual_tools_

protected

Definition at line 164 of file imarker_robot_state.h.

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

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation