#include <trajectory_execution_manager.h>

Classes
struct	ControllerInformation

class	DynamicReconfigureImpl

struct	TrajectoryExecutionContext
	Data structure that represents information necessary to execute a trajectory. More...

Public Types
typedef boost::function< void(const moveit_controller_manager::ExecutionStatus &)>	ExecutionCompleteCallback

typedef boost::function< void(std::size_t)>	PathSegmentCompleteCallback

Public Member Functions
bool	areControllersActive (const std::vector< std::string > &controllers)
	Check if a set of controllers are active. More...

void	clear ()
	Clear the trajectories to execute. More...

void	enableExecutionDurationMonitoring (bool flag)

bool	ensureActiveController (const std::string &controller)
	Make sure a particular controller is active. More...

bool	ensureActiveControllers (const std::vector< std::string > &controllers)
	Make sure a particular set of controllers are active. More...

bool	ensureActiveControllersForGroup (const std::string &group)
	Make sure the active controllers are such that trajectories that actuate joints in the specified group can be executed. More...

bool	ensureActiveControllersForJoints (const std::vector< std::string > &joints)
	Make sure the active controllers are such that trajectories that actuate joints in the specified set can be executed. More...

void	execute (const ExecutionCompleteCallback &callback=ExecutionCompleteCallback(), bool auto_clear=true)
	Start the execution of pushed trajectories; this does not wait for completion, but calls a callback when done. More...

void	execute (const ExecutionCompleteCallback &callback, const PathSegmentCompleteCallback &part_callback, bool auto_clear=true)

moveit_controller_manager::ExecutionStatus	executeAndWait (bool auto_clear=true)

const moveit_controller_manager::MoveItControllerManagerPtr &	getControllerManager () const
	Get the instance of the controller manager used (this is the plugin instance loaded) More...

std::pair< int, int >	getCurrentExpectedTrajectoryIndex () const

moveit_controller_manager::ExecutionStatus	getLastExecutionStatus () const
	Return the controller status for the last attempted execution. More...

const std::vector< TrajectoryExecutionContext * > &	getTrajectories () const
	Get the trajectories to be executed. More...

bool	isControllerActive (const std::string &controller)
	Check if a controller is active. More...

bool	isManagingControllers () const
	If this function returns true, then this instance of the manager is allowed to load/unload/switch controllers. More...

void	processEvent (const std::string &event)
	Execute a named event (e.g., 'stop') More...

bool	push (const moveit_msgs::RobotTrajectory &trajectory, const std::string &controller="")

bool	push (const trajectory_msgs::JointTrajectory &trajectory, const std::string &controller="")

bool	push (const trajectory_msgs::JointTrajectory &trajectory, const std::vector< std::string > &controllers)

bool	push (const moveit_msgs::RobotTrajectory &trajectory, const std::vector< std::string > &controllers)

bool	pushAndExecute (const moveit_msgs::RobotTrajectory &trajectory, const std::string &controller="")

bool	pushAndExecute (const trajectory_msgs::JointTrajectory &trajectory, const std::string &controller="")

bool	pushAndExecute (const sensor_msgs::JointState &state, const std::string &controller="")

bool	pushAndExecute (const trajectory_msgs::JointTrajectory &trajectory, const std::vector< std::string > &controllers)

bool	pushAndExecute (const moveit_msgs::RobotTrajectory &trajectory, const std::vector< std::string > &controllers)

bool	pushAndExecute (const sensor_msgs::JointState &state, const std::vector< std::string > &controllers)

void	setAllowedExecutionDurationScaling (double scaling)

void	setAllowedGoalDurationMargin (double margin)

void	setAllowedStartTolerance (double tolerance)
	Set joint-value tolerance for validating trajectory's start point against current robot state. More...

void	setExecutionVelocityScaling (double scaling)

void	setWaitForTrajectoryCompletion (bool flag)
	Enable or disable waiting for trajectory completion. More...

void	stopExecution (bool auto_clear=true)
	Stop whatever executions are active, if any. More...

	TrajectoryExecutionManager (const robot_model::RobotModelConstPtr &kmodel, const planning_scene_monitor::CurrentStateMonitorPtr &csm)
	Load the controller manager plugin, start listening for events on a topic. More...

	TrajectoryExecutionManager (const robot_model::RobotModelConstPtr &kmodel, const planning_scene_monitor::CurrentStateMonitorPtr &csm, bool manage_controllers)
	Load the controller manager plugin, start listening for events on a topic. More...

moveit_controller_manager::ExecutionStatus	waitForExecution ()

	~TrajectoryExecutionManager ()
	Destructor. Cancels all running trajectories (if any) More...

Static Public Attributes
static const std::string	EXECUTION_EVENT_TOPIC = "trajectory_execution_event"

Private Member Functions
bool	checkControllerCombination (std::vector< std::string > &controllers, const std::set< std::string > &actuated_joints)

bool	configure (TrajectoryExecutionContext &context, const moveit_msgs::RobotTrajectory &trajectory, const std::vector< std::string > &controllers)

void	continuousExecutionThread ()

bool	distributeTrajectory (const moveit_msgs::RobotTrajectory &trajectory, const std::vector< std::string > &controllers, std::vector< moveit_msgs::RobotTrajectory > &parts)

bool	executePart (std::size_t part_index)

void	executeThread (const ExecutionCompleteCallback &callback, const PathSegmentCompleteCallback &part_callback, bool auto_clear)

bool	findControllers (const std::set< std::string > &actuated_joints, std::size_t controller_count, const std::vector< std::string > &available_controllers, std::vector< std::string > &selected_controllers)

void	generateControllerCombination (std::size_t start_index, std::size_t controller_count, const std::vector< std::string > &available_controllers, std::vector< std::string > &selected_controllers, std::vector< std::vector< std::string > > &selected_options, const std::set< std::string > &actuated_joints)

void	initialize ()

void	loadControllerParams ()

void	receiveEvent (const std_msgs::StringConstPtr &event)

void	reloadControllerInformation ()

bool	selectControllers (const std::set< std::string > &actuated_joints, const std::vector< std::string > &available_controllers, std::vector< std::string > &selected_controllers)

void	stopExecutionInternal ()

void	updateControllersState (const ros::Duration &age)

void	updateControllerState (const std::string &controller, const ros::Duration &age)

void	updateControllerState (ControllerInformation &ci, const ros::Duration &age)

bool	validate (const TrajectoryExecutionContext &context) const
	Validate first point of trajectory matches current robot state. More...

bool	waitForRobotToStop (const TrajectoryExecutionContext &context, double wait_time=1.0)

Private Attributes
std::vector< moveit_controller_manager::MoveItControllerHandlePtr >	active_handles_

double	allowed_execution_duration_scaling_

double	allowed_goal_duration_margin_

double	allowed_start_tolerance_

boost::condition_variable	continuous_execution_condition_

boost::mutex	continuous_execution_mutex_

std::deque< TrajectoryExecutionContext * >	continuous_execution_queue_

std::unique_ptr< boost::thread >	continuous_execution_thread_

std::map< std::string, double >	controller_allowed_execution_duration_scaling_

std::map< std::string, double >	controller_allowed_goal_duration_margin_

moveit_controller_manager::MoveItControllerManagerPtr	controller_manager_

std::unique_ptr< pluginlib::ClassLoader< moveit_controller_manager::MoveItControllerManager > >	controller_manager_loader_

planning_scene_monitor::CurrentStateMonitorPtr	csm_

int	current_context_

ros::Subscriber	event_topic_subscriber_

bool	execution_complete_

boost::condition_variable	execution_complete_condition_

bool	execution_duration_monitoring_

boost::mutex	execution_state_mutex_

std::unique_ptr< boost::thread >	execution_thread_

double	execution_velocity_scaling_

std::map< std::string, ControllerInformation >	known_controllers_

moveit_controller_manager::ExecutionStatus	last_execution_status_

bool	manage_controllers_

const std::string	name_ = "trajectory_execution_manager"

ros::NodeHandle	node_handle_

DynamicReconfigureImpl *	reconfigure_impl_

robot_model::RobotModelConstPtr	robot_model_

ros::NodeHandle	root_node_handle_

bool	run_continuous_execution_thread_

bool	stop_continuous_execution_

std::vector< ros::Time >	time_index_

boost::mutex	time_index_mutex_

std::vector< TrajectoryExecutionContext * >	trajectories_

bool	verbose_

bool	wait_for_trajectory_completion_

Detailed Description

Definition at line 60 of file trajectory_execution_manager.h.

Member Typedef Documentation

typedef boost::function<void(const moveit_controller_manager::ExecutionStatus&)> trajectory_execution_manager::TrajectoryExecutionManager::ExecutionCompleteCallback

Definition of the function signature that is called when the execution of all the pushed trajectories completes. The status of the overall execution is passed as argument

Definition at line 67 of file trajectory_execution_manager.h.

typedef boost::function<void(std::size_t)> trajectory_execution_manager::TrajectoryExecutionManager::PathSegmentCompleteCallback

Definition of the function signature that is called when the execution of a pushed trajectory completes successfully.

Definition at line 71 of file trajectory_execution_manager.h.

Constructor & Destructor Documentation

trajectory_execution_manager::TrajectoryExecutionManager::TrajectoryExecutionManager	(	const robot_model::RobotModelConstPtr &	kmodel,
		const planning_scene_monitor::CurrentStateMonitorPtr &	csm
	)

Load the controller manager plugin, start listening for events on a topic.

Definition at line 81 of file trajectory_execution_manager.cpp.

trajectory_execution_manager::TrajectoryExecutionManager::TrajectoryExecutionManager	(	const robot_model::RobotModelConstPtr &	kmodel,
		const planning_scene_monitor::CurrentStateMonitorPtr &	csm,
		bool	manage_controllers
	)

Load the controller manager plugin, start listening for events on a topic.

Definition at line 91 of file trajectory_execution_manager.cpp.

trajectory_execution_manager::TrajectoryExecutionManager::~TrajectoryExecutionManager ( )

Destructor. Cancels all running trajectories (if any)

Definition at line 99 of file trajectory_execution_manager.cpp.

Member Function Documentation

bool trajectory_execution_manager::TrajectoryExecutionManager::areControllersActive ( const std::vector< std::string > & controllers )

Check if a set of controllers are active.

Definition at line 771 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::checkControllerCombination	(	std::vector< std::string > &	controllers,
		const std::set< std::string > &	actuated_joints
	)

private

Definition at line 591 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::clear ( void )

Clear the trajectories to execute.

Definition at line 1249 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::configure	(	TrajectoryExecutionContext &	context,
		const moveit_msgs::RobotTrajectory &	trajectory,
		const std::vector< std::string > &	controllers
	)

private

Definition at line 1040 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::continuousExecutionThread ( )

private

Definition at line 385 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::distributeTrajectory	(	const moveit_msgs::RobotTrajectory &	trajectory,
		const std::vector< std::string > &	controllers,
		std::vector< moveit_msgs::RobotTrajectory > &	parts
	)

private

Definition at line 809 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::enableExecutionDurationMonitoring ( bool flag )

Enable or disable the monitoring of trajectory execution duration. If a controller takes longer than expected, the trajectory is canceled

Definition at line 193 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::ensureActiveController ( const std::string & controller )

Make sure a particular controller is active.

Note: If manage_controllers_ is false and the controllers that happen to be active to not include the one specified as argument, this function fails.

Definition at line 1653 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::ensureActiveControllers ( const std::vector< std::string > & controllers )

Make sure a particular set of controllers are active.

Note: If manage_controllers_ is false and the controllers that happen to be active to not include the ones specified as argument, this function fails.

Definition at line 1658 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::ensureActiveControllersForGroup ( const std::string & group )

Make sure the active controllers are such that trajectories that actuate joints in the specified group can be executed.

Note: If manage_controllers_ is false and the controllers that happen to be active do not cover the joints in the group to be actuated, this function fails.

Definition at line 1619 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::ensureActiveControllersForJoints ( const std::vector< std::string > & joints )

Make sure the active controllers are such that trajectories that actuate joints in the specified set can be executed.

Note: If manage_controllers_ is false and the controllers that happen to be active do not cover the joints to be actuated, this function fails.

Definition at line 1628 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::execute	(	const ExecutionCompleteCallback &	callback = `ExecutionCompleteCallback()`,
		bool	auto_clear = `true`
	)

Start the execution of pushed trajectories; this does not wait for completion, but calls a callback when done.

Definition at line 1203 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::execute	(	const ExecutionCompleteCallback &	callback,
		const PathSegmentCompleteCallback &	part_callback,
		bool	auto_clear = `true`
	)

Start the execution of pushed trajectories; this does not wait for completion, but calls a callback when done. A callback is also called for every trajectory part that completes successfully.

Definition at line 1208 of file trajectory_execution_manager.cpp.

moveit_controller_manager::ExecutionStatus trajectory_execution_manager::TrajectoryExecutionManager::executeAndWait ( bool auto_clear = true )

This is a blocking call for the execution of the passed in trajectories. This just calls execute() and waitForExecution()

Definition at line 1143 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::executePart ( std::size_t part_index )

private

Definition at line 1321 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::executeThread	(	const ExecutionCompleteCallback &	callback,
		const PathSegmentCompleteCallback &	part_callback,
		bool	auto_clear
	)

private

Definition at line 1269 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::findControllers	(	const std::set< std::string > &	actuated_joints,
		std::size_t	controller_count,
		const std::vector< std::string > &	available_controllers,
		std::vector< std::string > &	selected_controllers
	)

private

Definition at line 682 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::generateControllerCombination	(	std::size_t	start_index,
		std::size_t	controller_count,
		const std::vector< std::string > &	available_controllers,
		std::vector< std::string > &	selected_controllers,
		std::vector< std::vector< std::string > > &	selected_options,
		const std::set< std::string > &	actuated_joints
	)

private

Definition at line 617 of file trajectory_execution_manager.cpp.

const moveit_controller_manager::MoveItControllerManagerPtr & trajectory_execution_manager::TrajectoryExecutionManager::getControllerManager ( ) const

Get the instance of the controller manager used (this is the plugin instance loaded)

Definition at line 228 of file trajectory_execution_manager.cpp.

std::pair< int, int > trajectory_execution_manager::TrajectoryExecutionManager::getCurrentExpectedTrajectoryIndex ( ) const

Get the state that the robot is expected to be at, given current time, after execute() has been called. The return value is a pair of two index values: first = the index of the trajectory to be executed (in the order push() was called), second = the index of the point within that trajectory. Values of -1 are returned when there is no trajectory being executed, or if the trajectory was passed using pushAndExecute().

Definition at line 1595 of file trajectory_execution_manager.cpp.

moveit_controller_manager::ExecutionStatus trajectory_execution_manager::TrajectoryExecutionManager::getLastExecutionStatus ( ) const

Return the controller status for the last attempted execution.

Definition at line 1614 of file trajectory_execution_manager.cpp.

const std::vector< TrajectoryExecutionManager::TrajectoryExecutionContext * > & trajectory_execution_manager::TrajectoryExecutionManager::getTrajectories ( ) const

Get the trajectories to be executed.

Definition at line 1609 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::initialize ( )

private

Definition at line 109 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::isControllerActive ( const std::string & controller )

Check if a controller is active.

Definition at line 766 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::isManagingControllers ( ) const

If this function returns true, then this instance of the manager is allowed to load/unload/switch controllers.

Definition at line 223 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::loadControllerParams ( )

private

Definition at line 1757 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::processEvent ( const std::string & event )

Execute a named event (e.g., 'stop')

Definition at line 233 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::push	(	const moveit_msgs::RobotTrajectory &	trajectory,
		const std::string &	controller = `""`
	)

Add a trajectory for future execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used.

Definition at line 247 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::push	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const std::string &	controller = `""`
	)

Add a trajectory for future execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used.

Definition at line 255 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::push	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const std::vector< std::string > &	controllers
	)

Add a trajectory for future execution. Optionally specify a set of controllers to consider using for the trajectory. Multiple controllers can be used simultaneously to execute the different parts of the trajectory. If multiple controllers can be used, preference is given to the already loaded ones. If no controller is specified, a default is used.

Definition at line 263 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::push	(	const moveit_msgs::RobotTrajectory &	trajectory,
		const std::vector< std::string > &	controllers
	)

Add a trajectory for future execution. Optionally specify a set of controllers to consider using for the trajectory. Multiple controllers can be used simultaneously to execute the different parts of the trajectory. If multiple controllers can be used, preference is given to the already loaded ones. If no controller is specified, a default is used.

Definition at line 271 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const moveit_msgs::RobotTrajectory &	trajectory,
		const std::string &	controller = `""`
	)

Add a trajectory for immediate execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 306 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const std::string &	controller = `""`
	)

Add a trajectory for immediate execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 315 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const sensor_msgs::JointState &	state,
		const std::string &	controller = `""`
	)

Add a trajectory that consists of a single state for immediate execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 324 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const std::vector< std::string > &	controllers
	)

Add a trajectory for immediate execution. Optionally specify a set of controllers to consider using for the trajectory. Multiple controllers can be used simultaneously to execute the different parts of the trajectory. If multiple controllers can be used, preference is given to the already loaded ones. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 332 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const moveit_msgs::RobotTrajectory &	trajectory,
		const std::vector< std::string > &	controllers
	)

Add a trajectory for immediate execution. Optionally specify a set of controllers to consider using for the trajectory. Multiple controllers can be used simultaneously to execute the different parts of the trajectory. If multiple controllers can be used, preference is given to the already loaded ones. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 354 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const sensor_msgs::JointState &	state,
		const std::vector< std::string > &	controllers
	)

Add a trajectory that consists of a single state for immediate execution. Optionally specify a set of controllers to consider using for the trajectory. Multiple controllers can be used simultaneously to execute the different parts of the trajectory. If multiple controllers can be used, preference is given to the already loaded ones. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 340 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::receiveEvent ( const std_msgs::StringConstPtr & event )

private

Definition at line 241 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::reloadControllerInformation ( )

private

Definition at line 524 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::selectControllers	(	const std::set< std::string > &	actuated_joints,
		const std::vector< std::string > &	available_controllers,
		std::vector< std::string > &	selected_controllers
	)

private

Definition at line 783 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::setAllowedExecutionDurationScaling ( double scaling )

When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution

Definition at line 198 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::setAllowedGoalDurationMargin ( double margin )

When determining the expected duration of a trajectory, this multiplicative factor is applied to allow more than the expected execution time before triggering trajectory cancel

Definition at line 203 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::setAllowedStartTolerance ( double tolerance )

Set joint-value tolerance for validating trajectory's start point against current robot state.

Definition at line 213 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::setExecutionVelocityScaling ( double scaling )

Before sending a trajectory to a controller, scale the velocities by the factor specified. By default, this is 1.0

Definition at line 208 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::setWaitForTrajectoryCompletion ( bool flag )

Enable or disable waiting for trajectory completion.

Definition at line 218 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::stopExecution ( bool auto_clear = true )

Stop whatever executions are active, if any.

Definition at line 1163 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::stopExecutionInternal ( )

private

Definition at line 1149 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::updateControllersState ( const ros::Duration & age )

private

Definition at line 584 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::updateControllerState	(	const std::string &	controller,
		const ros::Duration &	age
	)

private

Definition at line 559 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::updateControllerState	(	ControllerInformation &	ci,
		const ros::Duration &	age
	)

private

Definition at line 568 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::validate ( const TrajectoryExecutionContext & context ) const

private

Validate first point of trajectory matches current robot state.

Definition at line 945 of file trajectory_execution_manager.cpp.

moveit_controller_manager::ExecutionStatus trajectory_execution_manager::TrajectoryExecutionManager::waitForExecution ( )

Wait until the execution is complete. This only works for executions started by execute(). If you call this after pushAndExecute(), it will immediately stop execution.

Definition at line 1230 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::waitForRobotToStop	(	const TrajectoryExecutionContext &	context,
		double	wait_time = `1.0`
	)

private

Definition at line 1536 of file trajectory_execution_manager.cpp.

Member Data Documentation

std::vector<moveit_controller_manager::MoveItControllerHandlePtr> trajectory_execution_manager::TrajectoryExecutionManager::active_handles_

private

Definition at line 331 of file trajectory_execution_manager.h.

double trajectory_execution_manager::TrajectoryExecutionManager::allowed_execution_duration_scaling_

private

Definition at line 353 of file trajectory_execution_manager.h.

double trajectory_execution_manager::TrajectoryExecutionManager::allowed_goal_duration_margin_

private

Definition at line 354 of file trajectory_execution_manager.h.

double trajectory_execution_manager::TrajectoryExecutionManager::allowed_start_tolerance_

private

Definition at line 360 of file trajectory_execution_manager.h.

boost::condition_variable trajectory_execution_manager::TrajectoryExecutionManager::continuous_execution_condition_

private

Definition at line 325 of file trajectory_execution_manager.h.

boost::mutex trajectory_execution_manager::TrajectoryExecutionManager::continuous_execution_mutex_

private

Definition at line 323 of file trajectory_execution_manager.h.

std::deque<TrajectoryExecutionContext*> trajectory_execution_manager::TrajectoryExecutionManager::continuous_execution_queue_

private

Definition at line 340 of file trajectory_execution_manager.h.

std::unique_ptr<boost::thread> trajectory_execution_manager::TrajectoryExecutionManager::continuous_execution_thread_

private

Definition at line 320 of file trajectory_execution_manager.h.

std::map<std::string, double> trajectory_execution_manager::TrajectoryExecutionManager::controller_allowed_execution_duration_scaling_

private

Definition at line 357 of file trajectory_execution_manager.h.

std::map<std::string, double> trajectory_execution_manager::TrajectoryExecutionManager::controller_allowed_goal_duration_margin_

private

Definition at line 358 of file trajectory_execution_manager.h.

moveit_controller_manager::MoveItControllerManagerPtr trajectory_execution_manager::TrajectoryExecutionManager::controller_manager_

private

Definition at line 344 of file trajectory_execution_manager.h.

std::unique_ptr<pluginlib::ClassLoader<moveit_controller_manager::MoveItControllerManager> > trajectory_execution_manager::TrajectoryExecutionManager::controller_manager_loader_

private

Definition at line 343 of file trajectory_execution_manager.h.

planning_scene_monitor::CurrentStateMonitorPtr trajectory_execution_manager::TrajectoryExecutionManager::csm_

private

Definition at line 308 of file trajectory_execution_manager.h.

int trajectory_execution_manager::TrajectoryExecutionManager::current_context_

private

Definition at line 332 of file trajectory_execution_manager.h.

ros::Subscriber trajectory_execution_manager::TrajectoryExecutionManager::event_topic_subscriber_

private

Definition at line 311 of file trajectory_execution_manager.h.

bool trajectory_execution_manager::TrajectoryExecutionManager::execution_complete_

private

Definition at line 335 of file trajectory_execution_manager.h.

boost::condition_variable trajectory_execution_manager::TrajectoryExecutionManager::execution_complete_condition_

private

Definition at line 328 of file trajectory_execution_manager.h.

bool trajectory_execution_manager::TrajectoryExecutionManager::execution_duration_monitoring_

private

Definition at line 351 of file trajectory_execution_manager.h.

const std::string trajectory_execution_manager::TrajectoryExecutionManager::EXECUTION_EVENT_TOPIC = "trajectory_execution_event"

static

Definition at line 63 of file trajectory_execution_manager.h.

boost::mutex trajectory_execution_manager::TrajectoryExecutionManager::execution_state_mutex_

private

Definition at line 322 of file trajectory_execution_manager.h.

std::unique_ptr<boost::thread> trajectory_execution_manager::TrajectoryExecutionManager::execution_thread_

private

Definition at line 317 of file trajectory_execution_manager.h.

double trajectory_execution_manager::TrajectoryExecutionManager::execution_velocity_scaling_

private

Definition at line 361 of file trajectory_execution_manager.h.

std::map<std::string, ControllerInformation> trajectory_execution_manager::TrajectoryExecutionManager::known_controllers_

private

Definition at line 313 of file trajectory_execution_manager.h.

moveit_controller_manager::ExecutionStatus trajectory_execution_manager::TrajectoryExecutionManager::last_execution_status_

private

Definition at line 330 of file trajectory_execution_manager.h.

bool trajectory_execution_manager::TrajectoryExecutionManager::manage_controllers_

private

Definition at line 314 of file trajectory_execution_manager.h.

const std::string trajectory_execution_manager::TrajectoryExecutionManager::name_ = "trajectory_execution_manager"

private

Definition at line 305 of file trajectory_execution_manager.h.

ros::NodeHandle trajectory_execution_manager::TrajectoryExecutionManager::node_handle_

private

Definition at line 309 of file trajectory_execution_manager.h.

DynamicReconfigureImpl* trajectory_execution_manager::TrajectoryExecutionManager::reconfigure_impl_

private

Definition at line 348 of file trajectory_execution_manager.h.

robot_model::RobotModelConstPtr trajectory_execution_manager::TrajectoryExecutionManager::robot_model_

private

Definition at line 307 of file trajectory_execution_manager.h.

ros::NodeHandle trajectory_execution_manager::TrajectoryExecutionManager::root_node_handle_

private

Definition at line 310 of file trajectory_execution_manager.h.

bool trajectory_execution_manager::TrajectoryExecutionManager::run_continuous_execution_thread_

private

Definition at line 338 of file trajectory_execution_manager.h.

bool trajectory_execution_manager::TrajectoryExecutionManager::stop_continuous_execution_

private

Definition at line 337 of file trajectory_execution_manager.h.

std::vector<ros::Time> trajectory_execution_manager::TrajectoryExecutionManager::time_index_

private

Definition at line 333 of file trajectory_execution_manager.h.

boost::mutex trajectory_execution_manager::TrajectoryExecutionManager::time_index_mutex_

mutableprivate

Definition at line 334 of file trajectory_execution_manager.h.

std::vector<TrajectoryExecutionContext*> trajectory_execution_manager::TrajectoryExecutionManager::trajectories_

private

Definition at line 339 of file trajectory_execution_manager.h.

bool trajectory_execution_manager::TrajectoryExecutionManager::verbose_

private

Definition at line 346 of file trajectory_execution_manager.h.

bool trajectory_execution_manager::TrajectoryExecutionManager::wait_for_trajectory_completion_

private

Definition at line 362 of file trajectory_execution_manager.h.

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

Classes

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

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Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation