Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Private Member Functions | Private Attributes | List of all members
robot_interaction::RobotInteraction Class Reference

#include <robot_interaction.h>

Public Types

typedef ::robot_interaction::EndEffectorInteraction EndEffector
 
enum  EndEffectorInteractionStyle {
  EEF_POSITION_ARROWS = InteractionStyle::POSITION_ARROWS, EEF_ORIENTATION_CIRCLES = InteractionStyle::ORIENTATION_CIRCLES, EEF_POSITION_SPHERE = InteractionStyle::POSITION_SPHERE, EEF_ORIENTATION_SPHERE = InteractionStyle::ORIENTATION_SPHERE,
  EEF_POSITION_EEF = InteractionStyle::POSITION_EEF, EEF_ORIENTATION_EEF = InteractionStyle::ORIENTATION_EEF, EEF_FIXED = InteractionStyle::FIXED, EEF_POSITION = InteractionStyle::POSITION,
  EEF_ORIENTATION = InteractionStyle::ORIENTATION, EEF_6DOF = InteractionStyle::SIX_DOF, EEF_6DOF_SPHERE = InteractionStyle::SIX_DOF_SPHERE, EEF_POSITION_NOSPHERE = InteractionStyle::POSITION_NOSPHERE,
  EEF_ORIENTATION_NOSPHERE = InteractionStyle::ORIENTATION_NOSPHERE, EEF_6DOF_NOSPHERE = InteractionStyle::SIX_DOF_NOSPHERE
}
 
typedef ::robot_interaction::GenericInteraction Generic
 
typedef ::robot_interaction::InteractionHandler InteractionHandler
 
typedef ::robot_interaction::InteractionHandlerPtr InteractionHandlerPtr
 
typedef ::robot_interaction::JointInteraction Joint
 

Public Member Functions

void addActiveComponent (const InteractiveMarkerConstructorFn &construct, const ProcessFeedbackFn &process, const InteractiveMarkerUpdateFn &update=InteractiveMarkerUpdateFn(), const std::string &name="")
 
void addInteractiveMarkers (const ::robot_interaction::InteractionHandlerPtr &handler, const double marker_scale=0.0)
 
void clear ()
 
void clearInteractiveMarkers ()
 
void decideActiveComponents (const std::string &group)
 
void decideActiveComponents (const std::string &group, InteractionStyle::InteractionStyle style)
 
void decideActiveComponents (const std::string &group, EndEffectorInteractionStyle style)
 
void decideActiveEndEffectors (const std::string &group, EndEffectorInteractionStyle style)
 
const std::vector< EndEffectorInteraction > & getActiveEndEffectors () const
 
const std::vector< JointInteraction > & getActiveJoints () const
 
KinematicOptionsMapPtr getKinematicOptionsMap ()
 
const robot_model::RobotModelConstPtr & getRobotModel () const
 
const std::string & getServerTopic (void) const
 
void publishInteractiveMarkers ()
 
 RobotInteraction (const robot_model::RobotModelConstPtr &kmodel, const std::string &ns="")
 
bool showingMarkers (const ::robot_interaction::InteractionHandlerPtr &handler)
 
void toggleMoveInteractiveMarkerTopic (bool enable)
 
void updateInteractiveMarkers (const ::robot_interaction::InteractionHandlerPtr &handler)
 
virtual ~RobotInteraction ()
 

Static Public Member Functions

static bool updateState (robot_state::RobotState &state, const EndEffectorInteraction &eef, const geometry_msgs::Pose &pose, unsigned int attempts, double ik_timeout, const robot_state::GroupStateValidityCallbackFn &validity_callback=robot_state::GroupStateValidityCallbackFn(), const kinematics::KinematicsQueryOptions &kinematics_query_options=kinematics::KinematicsQueryOptions())
 

Static Public Attributes

static const std::string INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic"
 The topic name on which the internal Interactive Marker Server operates. More...
 

Private Member Functions

void addEndEffectorMarkers (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, visualization_msgs::InteractiveMarker &im, bool position=true, bool orientation=true)
 
void addEndEffectorMarkers (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, const geometry_msgs::Pose &offset, visualization_msgs::InteractiveMarker &im, bool position=true, bool orientation=true)
 
void clearInteractiveMarkersUnsafe ()
 
double computeGroupMarkerSize (const std::string &group)
 
double computeLinkMarkerSize (const std::string &link)
 
void computeMarkerPose (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, const robot_state::RobotState &robot_state, geometry_msgs::Pose &pose, geometry_msgs::Pose &control_to_eef_tf) const
 
void decideActiveEndEffectors (const std::string &group)
 
void decideActiveEndEffectors (const std::string &group, InteractionStyle::InteractionStyle style)
 
void decideActiveJoints (const std::string &group)
 
void moveInteractiveMarker (const std::string name, const geometry_msgs::PoseStampedConstPtr &msg)
 
void processingThread ()
 
void processInteractiveMarkerFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
void registerMoveInteractiveMarkerTopic (const std::string marker_name, const std::string &name)
 
void subscribeMoveInteractiveMarker (const std::string marker_name, const std::string &name)
 

Private Attributes

std::vector< EndEffectorInteraction > active_eef_
 
std::vector< GenericInteraction > active_generic_
 
std::vector< JointInteraction > active_vj_
 
std::map< std::string, visualization_msgs::InteractiveMarkerFeedbackConstPtr > feedback_map_
 
std::map< std::string,::robot_interaction::InteractionHandlerPtr > handlers_
 
std::vector< ros::Subscriber > int_marker_move_subscribers_
 
std::vector< std::string > int_marker_move_topics_
 
std::vector< std::string > int_marker_names_
 
interactive_markers::InteractiveMarkerServer * int_marker_server_
 
KinematicOptionsMapPtr kinematic_options_map_
 
boost::mutex marker_access_lock_
 
boost::condition_variable new_feedback_condition_
 
std::unique_ptr< boost::thread > processing_thread_
 
robot_model::RobotModelConstPtr robot_model_
 
bool run_processing_thread_
 
std::map< std::string, std::size_t > shown_markers_
 
std::string topic_
 

Detailed Description

Definition at line 74 of file robot_interaction.h.

Member Typedef Documentation

typedef ::robot_interaction::EndEffectorInteraction robot_interaction::RobotInteraction::EndEffector

Definition at line 80 of file robot_interaction.h.

typedef ::robot_interaction::GenericInteraction robot_interaction::RobotInteraction::Generic

Definition at line 82 of file robot_interaction.h.

typedef ::robot_interaction::InteractionHandler robot_interaction::RobotInteraction::InteractionHandler

Definition at line 78 of file robot_interaction.h.

typedef ::robot_interaction::InteractionHandlerPtr robot_interaction::RobotInteraction::InteractionHandlerPtr

Definition at line 79 of file robot_interaction.h.

typedef ::robot_interaction::JointInteraction robot_interaction::RobotInteraction::Joint

Definition at line 81 of file robot_interaction.h.

Member Enumeration Documentation

enum robot_interaction::RobotInteraction::EndEffectorInteractionStyle

DEPRECATED. Instead use robot_interaction::InteractionStyle::InteractionStyle in interaction.h

Enumerator
EEF_POSITION_ARROWS 
EEF_ORIENTATION_CIRCLES 
EEF_POSITION_SPHERE 
EEF_ORIENTATION_SPHERE 
EEF_POSITION_EEF 
EEF_ORIENTATION_EEF 
EEF_FIXED 
EEF_POSITION 
EEF_ORIENTATION 
EEF_6DOF 
EEF_6DOF_SPHERE 
EEF_POSITION_NOSPHERE 
EEF_ORIENTATION_NOSPHERE 
EEF_6DOF_NOSPHERE 

Definition at line 248 of file robot_interaction.h.

Constructor & Destructor Documentation

robot_interaction::RobotInteraction::RobotInteraction ( const robot_model::RobotModelConstPtr &  kmodel,
const std::string &  ns = "" 
)

Definition at line 64 of file robot_interaction.cpp.

robot_interaction::RobotInteraction::~RobotInteraction ( )
virtual

Definition at line 75 of file robot_interaction.cpp.

Member Function Documentation

void robot_interaction::RobotInteraction::addActiveComponent ( const InteractiveMarkerConstructorFn &  construct,
const ProcessFeedbackFn &  process,
const InteractiveMarkerUpdateFn &  update = InteractiveMarkerUpdateFn(),
const std::string &  name = "" 
)

add an interaction. An interaction is a marker that can be used to manipulate the robot state. This function does not add any markers. To add markers for all active interactions call addInteractiveMarkers(). construct - a callback to construct the marker. See comment on InteractiveMarkerConstructorFn above. update - Called when the robot state changes. Updates the marker pose. Optional. See comment on InteractiveMarkerUpdateFn above. process - called when the marker moves. Updates the robot state. See comment on ProcessFeedbackFn above.

Definition at line 100 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addEndEffectorMarkers ( const ::robot_interaction::InteractionHandlerPtr &  handler,
const EndEffectorInteraction &  eef,
visualization_msgs::InteractiveMarker &  im,
bool  position = true,
bool  orientation = true 
)
private

Definition at line 372 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addEndEffectorMarkers ( const ::robot_interaction::InteractionHandlerPtr &  handler,
const EndEffectorInteraction &  eef,
const geometry_msgs::Pose &  offset,
visualization_msgs::InteractiveMarker &  im,
bool  position = true,
bool  orientation = true 
)
private

Definition at line 381 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addInteractiveMarkers ( const ::robot_interaction::InteractionHandlerPtr &  handler,
const double  marker_scale = 0.0 
)

Add interactive markers for all active interactions. This adds markers just to the one handler. If there are multiple handlers call this for each handler for which you want markers. The markers are not actually added until you call publishInteractiveMarkers().

Definition at line 451 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::clear ( void  )

remove all interactions. Also removes all markers.

Definition at line 346 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::clearInteractiveMarkers ( )

Definition at line 356 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::clearInteractiveMarkersUnsafe ( )
private

Definition at line 362 of file robot_interaction.cpp.

double robot_interaction::RobotInteraction::computeGroupMarkerSize ( const std::string &  group)
private

Definition at line 145 of file robot_interaction.cpp.

double robot_interaction::RobotInteraction::computeLinkMarkerSize ( const std::string &  link)
private

Definition at line 115 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::computeMarkerPose ( const ::robot_interaction::InteractionHandlerPtr &  handler,
const EndEffectorInteraction &  eef,
const robot_state::RobotState &  robot_state,
geometry_msgs::Pose &  pose,
geometry_msgs::Pose &  control_to_eef_tf 
) const
private

Definition at line 595 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveComponents ( const std::string &  group)

Adds an interaction for:

  • each end effector in the group that can be controller by IK
  • each floating joint
  • each planar joint If no end effector exists in the robot then adds an interaction for the last link in the chain. This function does not add any markers. To add markers for all active interactions call addInteractiveMarkers().

Definition at line 85 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveComponents ( const std::string &  group,
InteractionStyle::InteractionStyle  style 
)

Definition at line 90 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveComponents ( const std::string &  group,
EndEffectorInteractionStyle  style 
)

Definition at line 848 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveEndEffectors ( const std::string &  group)
private

Definition at line 253 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveEndEffectors ( const std::string &  group,
InteractionStyle::InteractionStyle  style 
)
private

Definition at line 258 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveEndEffectors ( const std::string &  group,
EndEffectorInteractionStyle  style 
)

Definition at line 854 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveJoints ( const std::string &  group)
private

Definition at line 182 of file robot_interaction.cpp.

const std::vector<EndEffectorInteraction>& robot_interaction::RobotInteraction::getActiveEndEffectors ( ) const
inline

Definition at line 270 of file robot_interaction.h.

const std::vector<JointInteraction>& robot_interaction::RobotInteraction::getActiveJoints ( ) const
inline

Definition at line 275 of file robot_interaction.h.

KinematicOptionsMapPtr robot_interaction::RobotInteraction::getKinematicOptionsMap ( )
inline

Definition at line 160 of file robot_interaction.h.

const robot_model::RobotModelConstPtr& robot_interaction::RobotInteraction::getRobotModel ( ) const
inline

Definition at line 153 of file robot_interaction.h.

const std::string& robot_interaction::RobotInteraction::getServerTopic ( void  ) const
inline

Definition at line 91 of file robot_interaction.h.

void robot_interaction::RobotInteraction::moveInteractiveMarker ( const std::string  name,
const geometry_msgs::PoseStampedConstPtr &  msg 
)
private

Definition at line 703 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::processingThread ( )
private

Definition at line 745 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::processInteractiveMarkerFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
private

Definition at line 722 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::publishInteractiveMarkers ( )

Definition at line 665 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::registerMoveInteractiveMarkerTopic ( const std::string  marker_name,
const std::string &  name 
)
private

Definition at line 561 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::showingMarkers ( const ::robot_interaction::InteractionHandlerPtr &  handler)

Definition at line 671 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::subscribeMoveInteractiveMarker ( const std::string  marker_name,
const std::string &  name 
)
private
void robot_interaction::RobotInteraction::toggleMoveInteractiveMarkerTopic ( bool  enable)

Definition at line 571 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::updateInteractiveMarkers ( const ::robot_interaction::InteractionHandlerPtr &  handler)

Definition at line 624 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::updateState ( robot_state::RobotState &  state,
const EndEffectorInteraction &  eef,
const geometry_msgs::Pose &  pose,
unsigned int  attempts,
double  ik_timeout,
const robot_state::GroupStateValidityCallbackFn &  validity_callback = robot_state::GroupStateValidityCallbackFn(),
const kinematics::KinematicsQueryOptions &  kinematics_query_options = kinematics::KinematicsQueryOptions() 
)
static

Definition at line 688 of file robot_interaction.cpp.

Member Data Documentation

std::vector<EndEffectorInteraction> robot_interaction::RobotInteraction::active_eef_
private

Definition at line 209 of file robot_interaction.h.

std::vector<GenericInteraction> robot_interaction::RobotInteraction::active_generic_
private

Definition at line 211 of file robot_interaction.h.

std::vector<JointInteraction> robot_interaction::RobotInteraction::active_vj_
private

Definition at line 210 of file robot_interaction.h.

std::map<std::string, visualization_msgs::InteractiveMarkerFeedbackConstPtr> robot_interaction::RobotInteraction::feedback_map_
private

Definition at line 205 of file robot_interaction.h.

std::map<std::string, ::robot_interaction::InteractionHandlerPtr> robot_interaction::RobotInteraction::handlers_
private

Definition at line 213 of file robot_interaction.h.

std::vector<ros::Subscriber> robot_interaction::RobotInteraction::int_marker_move_subscribers_
private

Definition at line 228 of file robot_interaction.h.

std::vector<std::string> robot_interaction::RobotInteraction::int_marker_move_topics_
private

Definition at line 231 of file robot_interaction.h.

std::vector<std::string> robot_interaction::RobotInteraction::int_marker_names_
private

Definition at line 233 of file robot_interaction.h.

interactive_markers::InteractiveMarkerServer* robot_interaction::RobotInteraction::int_marker_server_
private

Definition at line 226 of file robot_interaction.h.

const std::string robot_interaction::RobotInteraction::INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic"
static

The topic name on which the internal Interactive Marker Server operates.

Definition at line 86 of file robot_interaction.h.

KinematicOptionsMapPtr robot_interaction::RobotInteraction::kinematic_options_map_
private

Definition at line 239 of file robot_interaction.h.

boost::mutex robot_interaction::RobotInteraction::marker_access_lock_
private

Definition at line 224 of file robot_interaction.h.

boost::condition_variable robot_interaction::RobotInteraction::new_feedback_condition_
private

Definition at line 204 of file robot_interaction.h.

std::unique_ptr<boost::thread> robot_interaction::RobotInteraction::processing_thread_
private

Definition at line 201 of file robot_interaction.h.

robot_model::RobotModelConstPtr robot_interaction::RobotInteraction::robot_model_
private

Definition at line 207 of file robot_interaction.h.

bool robot_interaction::RobotInteraction::run_processing_thread_
private

Definition at line 202 of file robot_interaction.h.

std::map<std::string, std::size_t> robot_interaction::RobotInteraction::shown_markers_
private

Definition at line 214 of file robot_interaction.h.

std::string robot_interaction::RobotInteraction::topic_
private

Definition at line 235 of file robot_interaction.h.

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

robot_interaction
Author(s): Ioan Sucan
autogenerated on Wed Jul 10 2019 04:04:01