Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
FootstepMarker Class Reference

#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

◆ Config

typedef jsk_interactive_marker::FootstepMarkerConfig FootstepMarker::Config

Definition at line 98 of file footstep_marker.h.

◆ ExecuteActionClient

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

Definition at line 105 of file footstep_marker.h.

◆ PlanningActionClient

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

Definition at line 103 of file footstep_marker.h.

◆ PlanResult

typedef jsk_footstep_msgs::PlanFootstepsResult FootstepMarker::PlanResult

Definition at line 106 of file footstep_marker.h.

Constructor & Destructor Documentation

◆ FootstepMarker()

FootstepMarker::FootstepMarker ( )

Definition at line 57 of file footstep_marker.cpp.

◆ ~FootstepMarker()

FootstepMarker::~FootstepMarker ( )
virtual

Definition at line 834 of file footstep_marker.cpp.

Member Function Documentation

◆ callEstimateOcclusion()

void FootstepMarker::callEstimateOcclusion ( )
protected

Definition at line 486 of file footstep_marker.cpp.

◆ cancelWalk()

void FootstepMarker::cancelWalk ( )
protected

Definition at line 479 of file footstep_marker.cpp.

◆ changePlannerHeuristic()

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

Definition at line 467 of file footstep_marker.cpp.

◆ computeLegTransformation()

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

Definition at line 297 of file footstep_marker.cpp.

◆ computePolygon()

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

Definition at line 334 of file footstep_marker.cpp.

◆ configCallback()

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

Definition at line 224 of file footstep_marker.cpp.

◆ executeCB()

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

Definition at line 367 of file footstep_marker.cpp.

◆ executeFootstep()

void FootstepMarker::executeFootstep ( )
protected

Definition at line 599 of file footstep_marker.cpp.

◆ forceToReplan()

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

Definition at line 416 of file footstep_marker.cpp.

◆ getFootstepPose()

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

Definition at line 692 of file footstep_marker.cpp.

◆ initializeInteractiveMarker()

void FootstepMarker::initializeInteractiveMarker ( )
protected

Definition at line 759 of file footstep_marker.cpp.

◆ lookGround()

void FootstepMarker::lookGround ( )
protected

Definition at line 405 of file footstep_marker.cpp.

◆ makeFootstepMarker()

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

Definition at line 748 of file footstep_marker.cpp.

◆ menuCommandCB()

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

Definition at line 375 of file footstep_marker.cpp.

◆ menuFeedbackCB()

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

Definition at line 540 of file footstep_marker.cpp.

◆ moveMarkerCB()

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

Definition at line 724 of file footstep_marker.cpp.

◆ planDoneCB()

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

Definition at line 681 of file footstep_marker.cpp.

◆ planIfPossible()

void FootstepMarker::planIfPossible ( )
protected

Definition at line 623 of file footstep_marker.cpp.

◆ processFeedbackCB()

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

Definition at line 544 of file footstep_marker.cpp.

◆ processMenuFeedback()

void FootstepMarker::processMenuFeedback ( uint8_t  id)
protected

Definition at line 422 of file footstep_marker.cpp.

◆ projectionCallback()

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

Definition at line 582 of file footstep_marker.cpp.

◆ projectMarkerToPlane()

bool FootstepMarker::projectMarkerToPlane ( )
protected

Definition at line 492 of file footstep_marker.cpp.

◆ readPoseParam()

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

Definition at line 247 of file footstep_marker.cpp.

◆ resetLegPoses()

void FootstepMarker::resetLegPoses ( )
protected

Definition at line 279 of file footstep_marker.cpp.

◆ resumeCB()

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

Definition at line 371 of file footstep_marker.cpp.

◆ resumeFootstep()

void FootstepMarker::resumeFootstep ( )
protected

Definition at line 568 of file footstep_marker.cpp.

◆ snapLegs()

void FootstepMarker::snapLegs ( )
protected

Definition at line 325 of file footstep_marker.cpp.

◆ updateInitialFootstep()

void FootstepMarker::updateInitialFootstep ( )

Definition at line 379 of file footstep_marker.cpp.

Member Data Documentation

◆ ac_

PlanningActionClient FootstepMarker::ac_
protected

Definition at line 174 of file footstep_marker.h.

◆ ac_exec_

ExecuteActionClient FootstepMarker::ac_exec_
protected

Definition at line 175 of file footstep_marker.h.

◆ always_planning_

bool FootstepMarker::always_planning_
protected

Definition at line 186 of file footstep_marker.h.

◆ current_pose_pub_

ros::Publisher FootstepMarker::current_pose_pub_
protected

Definition at line 168 of file footstep_marker.h.

◆ estimate_occlusion_client_

ros::ServiceClient FootstepMarker::estimate_occlusion_client_
protected

Definition at line 171 of file footstep_marker.h.

◆ exec_sub_

ros::Subscriber FootstepMarker::exec_sub_
protected

Definition at line 163 of file footstep_marker.h.

◆ foot_size_x_

double FootstepMarker::foot_size_x_
protected

Definition at line 155 of file footstep_marker.h.

◆ foot_size_y_

double FootstepMarker::foot_size_y_
protected

Definition at line 156 of file footstep_marker.h.

◆ foot_size_z_

double FootstepMarker::foot_size_z_
protected

Definition at line 157 of file footstep_marker.h.

◆ footstep_margin_

double FootstepMarker::footstep_margin_
protected

Definition at line 158 of file footstep_marker.h.

◆ footstep_pub_

ros::Publisher FootstepMarker::footstep_pub_
protected

Definition at line 169 of file footstep_marker.h.

◆ initial_reference_frame_

std::string FootstepMarker::initial_reference_frame_
protected

Definition at line 189 of file footstep_marker.h.

◆ latest_grids_

jsk_recognition_msgs::SimpleOccupancyGridArray::ConstPtr FootstepMarker::latest_grids_
protected

Definition at line 136 of file footstep_marker.h.

◆ lfoot_frame_id_

std::string FootstepMarker::lfoot_frame_id_
protected

Definition at line 196 of file footstep_marker.h.

◆ lleg_first_

bool FootstepMarker::lleg_first_
protected

Definition at line 187 of file footstep_marker.h.

◆ lleg_initial_pose_

geometry_msgs::Pose FootstepMarker::lleg_initial_pose_
protected

Definition at line 192 of file footstep_marker.h.

◆ lleg_offset_

tf::Transform FootstepMarker::lleg_offset_
protected

Definition at line 194 of file footstep_marker.h.

◆ lleg_pose_

geometry_msgs::Pose FootstepMarker::lleg_pose_
protected

Definition at line 190 of file footstep_marker.h.

◆ marker_frame_id_

std::string FootstepMarker::marker_frame_id_
protected

Definition at line 159 of file footstep_marker.h.

◆ marker_pose_

geometry_msgs::PoseStamped FootstepMarker::marker_pose_
protected

Definition at line 160 of file footstep_marker.h.

◆ menu_command_sub_

ros::Subscriber FootstepMarker::menu_command_sub_
protected

Definition at line 162 of file footstep_marker.h.

◆ menu_handler_

interactive_markers::MenuHandler FootstepMarker::menu_handler_
protected

Definition at line 154 of file footstep_marker.h.

◆ move_marker_sub_

ros::Subscriber FootstepMarker::move_marker_sub_
protected

Definition at line 161 of file footstep_marker.h.

◆ plan_if_possible_srv_

ros::ServiceServer FootstepMarker::plan_if_possible_srv_
protected

Definition at line 172 of file footstep_marker.h.

◆ plan_result_

PlanResult::ConstPtr FootstepMarker::plan_result_
protected

Definition at line 200 of file footstep_marker.h.

◆ plan_run_

bool FootstepMarker::plan_run_
protected

Definition at line 181 of file footstep_marker.h.

◆ plan_run_mutex_

boost::mutex FootstepMarker::plan_run_mutex_
protected

Definition at line 131 of file footstep_marker.h.

◆ plane_mutex_

boost::mutex FootstepMarker::plane_mutex_
protected

Definition at line 130 of file footstep_marker.h.

◆ project_footprint_pub_

ros::Publisher FootstepMarker::project_footprint_pub_
protected

Definition at line 166 of file footstep_marker.h.

◆ projection_sub_

ros::Subscriber FootstepMarker::projection_sub_
protected

Definition at line 165 of file footstep_marker.h.

◆ resume_sub_

ros::Subscriber FootstepMarker::resume_sub_
protected

Definition at line 164 of file footstep_marker.h.

◆ rfoot_frame_id_

std::string FootstepMarker::rfoot_frame_id_
protected

Definition at line 197 of file footstep_marker.h.

◆ rleg_initial_pose_

geometry_msgs::Pose FootstepMarker::rleg_initial_pose_
protected

Definition at line 193 of file footstep_marker.h.

◆ rleg_offset_

tf::Transform FootstepMarker::rleg_offset_
protected

Definition at line 195 of file footstep_marker.h.

◆ rleg_pose_

geometry_msgs::Pose FootstepMarker::rleg_pose_
protected

Definition at line 191 of file footstep_marker.h.

◆ server_

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

Definition at line 153 of file footstep_marker.h.

◆ show_6dof_control_

bool FootstepMarker::show_6dof_control_
protected

Definition at line 178 of file footstep_marker.h.

◆ snapit_client_

ros::ServiceClient FootstepMarker::snapit_client_
protected

Definition at line 170 of file footstep_marker.h.

◆ snapped_pose_pub_

ros::Publisher FootstepMarker::snapped_pose_pub_
protected

Definition at line 167 of file footstep_marker.h.

◆ srv_

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

Definition at line 132 of file footstep_marker.h.

◆ tf_listener_

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

Definition at line 173 of file footstep_marker.h.

◆ use_2d_

bool FootstepMarker::use_2d_
protected

Definition at line 188 of file footstep_marker.h.

◆ use_footstep_controller_

bool FootstepMarker::use_footstep_controller_
protected

Definition at line 180 of file footstep_marker.h.

◆ use_footstep_planner_

bool FootstepMarker::use_footstep_planner_
protected

Definition at line 179 of file footstep_marker.h.

◆ use_initial_footstep_tf_

bool FootstepMarker::use_initial_footstep_tf_
protected

Definition at line 184 of file footstep_marker.h.

◆ use_initial_reference_

bool FootstepMarker::use_initial_reference_
protected

Definition at line 185 of file footstep_marker.h.

◆ use_plane_snap_

bool FootstepMarker::use_plane_snap_
protected

Definition at line 182 of file footstep_marker.h.

◆ use_projection_service_

bool FootstepMarker::use_projection_service_
protected

Definition at line 176 of file footstep_marker.h.

◆ use_projection_topic_

bool FootstepMarker::use_projection_topic_
protected

Definition at line 177 of file footstep_marker.h.

◆ wait_snapit_server_

bool FootstepMarker::wait_snapit_server_
protected

Definition at line 183 of file footstep_marker.h.

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

jsk_interactive_marker
Author(s): furuta
autogenerated on Mon Apr 7 2025 02:50:03