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

#include <footstep_marker.h>

Public Types

enum  CommandMode { SINGLE, CONTINUOUS, STACK }
 
typedef FootstepMarkerConfig Config
 
typedef jsk_footstep_msgs::ExecFootstepsResult ExecResult
 
typedef actionlib::SimpleActionClient< jsk_footstep_msgs::ExecFootstepsAction > ExecuteActionClient
 
typedef boost::function< void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &)> MenuCallbackFunction
 
typedef actionlib::SimpleActionClient< jsk_footstep_msgs::PlanFootstepsAction > PlanningActionClient
 
enum  PlanningState { NOT_STARTED, FINISHED, ON_GOING }
 
typedef jsk_footstep_msgs::PlanFootstepsResult PlanResult
 
typedef boost::shared_ptr< FootstepMarker > Ptr
 

Public Member Functions

 FootstepMarker ()
 
virtual ~FootstepMarker ()
 

Protected Member Functions

virtual void callFollowPathPlan (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void cancelPlanning ()
 
virtual void configCallback (Config &config, uint32_t level)
 
virtual visualization_msgs::Marker distanceLineMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
 
virtual visualization_msgs::Marker distanceTextMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
 
virtual void enable2DCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void enable3DCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void enableContinuousCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void enableCubeCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void enableLineCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void enableSingleCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void enableStackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void executeDoneCB (const actionlib::SimpleClientGoalState &state, const ExecResult::ConstPtr &result)
 
virtual void executeFootstepCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual bool executeFootstepService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
virtual jsk_footstep_msgs::FootstepArray footstepArrayFromPosePair (PosePair::Ptr pose_pair, const std_msgs::Header &header, bool is_lleg_first)
 
virtual PosePair::Ptr getCurrentFootstepPoses (const ros::Time &stamp)
 
virtual PosePair::Ptr getDefaultFootstepPair ()
 
virtual FootstepTrans getDefaultLeftLegOffset ()
 
virtual FootstepTrans getDefaultRightLegOffset ()
 
virtual bool getFootstepMarkerPoseService (jsk_interactive_marker::GetTransformableMarkerPose::Request &req, jsk_interactive_marker::GetTransformableMarkerPose::Response &res)
 
virtual PosePair::Ptr getLatestCurrentFootstepPoses ()
 
virtual visualization_msgs::Marker goalBoundingBoxMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
 
virtual visualization_msgs::Marker makeFootstepMarker (FootstepTrans pose, unsigned char leg)
 
virtual visualization_msgs::Marker originBoundingBoxMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
 
virtual visualization_msgs::Marker originMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
 
virtual void plan (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void planDoneCB (const actionlib::SimpleClientGoalState &state, const PlanResult::ConstPtr &result)
 
virtual void planIfPossible (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void poseStampedCommandCallback (const geometry_msgs::PoseStamped::ConstPtr &msg)
 
virtual void processFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void processMenuFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void processPoseUpdateCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual void publishCurrentMarkerMode ()
 
virtual void resetInteractiveMarker ()
 
virtual void resetMarkerCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual bool resetMarkerService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
virtual void setupGoalMarker (FootstepTrans pose, visualization_msgs::InteractiveMarker &int_marker)
 
virtual void setupInitialMarker (PosePair::Ptr leg_poses, visualization_msgs::InteractiveMarker &int_marker)
 
virtual void setupMenuHandler ()
 
virtual visualization_msgs::Marker stackedPosesMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
 
virtual void stackFootstepCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 
virtual bool stackMarkerPoseService (jsk_interactive_marker::SetPose::Request &req, jsk_interactive_marker::SetPose::Response &res)
 
virtual visualization_msgs::Marker targetArrow (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
 
virtual bool toggleFootstepMarkerModeService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
virtual void updateMarkerArray (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
 
virtual bool waitForExecuteFootstepService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
virtual bool waitForFootstepPlanService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 

Protected Attributes

ExecuteActionClient ac_exec_
 
PlanningActionClient ac_planner_
 
FootstepTrans collision_bbox_offset_
 
FootstepVec collision_bbox_size_
 
CommandMode command_mode_
 
interactive_markers::MenuHandler::EntryHandle cont_mode_
 
interactive_markers::MenuHandler::EntryHandle cube_mode_
 
FootstepTrans current_lleg_offset_
 
FootstepTrans current_rleg_offset_
 
double default_footstep_margin_
 
bool disable_tf_
 
interactive_markers::MenuHandler::EntryHandle entry_2d_mode_
 
interactive_markers::MenuHandler::EntryHandle entry_3d_mode_
 
double foot_size_x_
 
double foot_size_y_
 
double foot_size_z_
 
bool have_last_step_
 
bool is_2d_mode_
 
bool is_cube_mode_
 
jsk_footstep_msgs::Footstep last_steps_ [2]
 
interactive_markers::MenuHandler::EntryHandle line_mode_
 
std::string lleg_end_coords_
 
FootstepVec lleg_footstep_offset_
 
FootstepTrans lleg_goal_pose_
 
interactive_markers::MenuHandler menu_handler_
 
ros::NodeHandle nh_
 
std::string odom_frame_id_
 
PosePair::Ptr original_foot_poses_
 
jsk_footstep_msgs::FootstepArray plan_result_
 
boost::mutex planner_mutex_
 
PlanningState planning_state_
 
ros::NodeHandle pnh_
 
ros::Publisher pub_current_marker_mode_
 
MarkerArrayPublisher pub_marker_array_
 
ros::Publisher pub_plan_result_
 
std::string rleg_end_coords_
 
FootstepVec rleg_footstep_offset_
 
FootstepTrans rleg_goal_pose_
 
boost::shared_ptr< interactive_markers::InteractiveMarkerServer > server_
 
interactive_markers::MenuHandler::EntryHandle single_mode_
 
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
 
ros::ServiceServer srv_execute_footstep_
 
ros::ServiceServer srv_get_fs_marker_pose_
 
ros::ServiceServer srv_reset_fs_marker_
 
ros::ServiceServer srv_stack_marker_pose_
 
ros::ServiceServer srv_toggle_fs_com_mode_
 
ros::ServiceServer srv_wait_for_exec_fs_
 
ros::ServiceServer srv_wait_for_fs_plan_
 
interactive_markers::MenuHandler::EntryHandle stack_btn_
 
interactive_markers::MenuHandler::EntryHandle stack_mode_
 
std::vector< FootstepTrans > stacked_poses_
 
ros::Subscriber sub_pose_stamped_command_
 
boost::shared_ptr< tf2_ros::BufferClient > tf_client_
 
bool use_default_goal_
 

Detailed Description

Definition at line 128 of file footstep_marker.h.

Member Typedef Documentation

◆ Config

typedef FootstepMarkerConfig jsk_footstep_planner::FootstepMarker::Config

Definition at line 143 of file footstep_marker.h.

◆ ExecResult

typedef jsk_footstep_msgs::ExecFootstepsResult jsk_footstep_planner::FootstepMarker::ExecResult

Definition at line 137 of file footstep_marker.h.

◆ ExecuteActionClient

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

Definition at line 135 of file footstep_marker.h.

◆ MenuCallbackFunction

typedef boost::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> jsk_footstep_planner::FootstepMarker::MenuCallbackFunction

Definition at line 139 of file footstep_marker.h.

◆ PlanningActionClient

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

Definition at line 133 of file footstep_marker.h.

◆ PlanResult

typedef jsk_footstep_msgs::PlanFootstepsResult jsk_footstep_planner::FootstepMarker::PlanResult

Definition at line 136 of file footstep_marker.h.

◆ Ptr

typedef boost::shared_ptr<FootstepMarker> jsk_footstep_planner::FootstepMarker::Ptr

Definition at line 131 of file footstep_marker.h.

Member Enumeration Documentation

◆ CommandMode

enum jsk_footstep_planner::FootstepMarker::CommandMode
Enumerator
SINGLE 
CONTINUOUS 
STACK 

Definition at line 142 of file footstep_marker.h.

◆ PlanningState

enum jsk_footstep_planner::FootstepMarker::PlanningState
Enumerator
NOT_STARTED 
FINISHED 
ON_GOING 

Definition at line 141 of file footstep_marker.h.

Constructor & Destructor Documentation

◆ FootstepMarker()

FootstepMarker::FootstepMarker ( )

Definition at line 136 of file footstep_marker.cpp.

◆ ~FootstepMarker()

FootstepMarker::~FootstepMarker ( )
virtual

Definition at line 214 of file footstep_marker.cpp.

Member Function Documentation

◆ callFollowPathPlan()

void FootstepMarker::callFollowPathPlan ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 1277 of file footstep_marker.cpp.

◆ cancelPlanning()

void FootstepMarker::cancelPlanning ( )
protectedvirtual

Definition at line 660 of file footstep_marker.cpp.

◆ configCallback()

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

Definition at line 1074 of file footstep_marker.cpp.

◆ distanceLineMarker()

visualization_msgs::Marker FootstepMarker::distanceLineMarker ( const std_msgs::Header &  header,
const geometry_msgs::Pose &  pose 
)
protectedvirtual

Definition at line 814 of file footstep_marker.cpp.

◆ distanceTextMarker()

visualization_msgs::Marker FootstepMarker::distanceTextMarker ( const std_msgs::Header &  header,
const geometry_msgs::Pose &  pose 
)
protectedvirtual

Definition at line 896 of file footstep_marker.cpp.

◆ enable2DCB()

void FootstepMarker::enable2DCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 536 of file footstep_marker.cpp.

◆ enable3DCB()

void FootstepMarker::enable3DCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 551 of file footstep_marker.cpp.

◆ enableContinuousCB()

void FootstepMarker::enableContinuousCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 595 of file footstep_marker.cpp.

◆ enableCubeCB()

void FootstepMarker::enableCubeCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 508 of file footstep_marker.cpp.

◆ enableLineCB()

void FootstepMarker::enableLineCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 522 of file footstep_marker.cpp.

◆ enableSingleCB()

void FootstepMarker::enableSingleCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 566 of file footstep_marker.cpp.

◆ enableStackCB()

void FootstepMarker::enableStackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 624 of file footstep_marker.cpp.

◆ executeDoneCB()

void FootstepMarker::executeDoneCB ( const actionlib::SimpleClientGoalState &  state,
const ExecResult::ConstPtr &  result 
)
protectedvirtual

Definition at line 431 of file footstep_marker.cpp.

◆ executeFootstepCB()

void FootstepMarker::executeFootstepCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 449 of file footstep_marker.cpp.

◆ executeFootstepService()

bool FootstepMarker::executeFootstepService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protectedvirtual

Definition at line 1166 of file footstep_marker.cpp.

◆ footstepArrayFromPosePair()

jsk_footstep_msgs::FootstepArray FootstepMarker::footstepArrayFromPosePair ( PosePair::Ptr  pose_pair,
const std_msgs::Header &  header,
bool  is_lleg_first 
)
protectedvirtual

Definition at line 669 of file footstep_marker.cpp.

◆ getCurrentFootstepPoses()

PosePair::Ptr FootstepMarker::getCurrentFootstepPoses ( const ros::Time &  stamp)
protectedvirtual

Definition at line 1054 of file footstep_marker.cpp.

◆ getDefaultFootstepPair()

PosePair::Ptr FootstepMarker::getDefaultFootstepPair ( )
protectedvirtual

Definition at line 1031 of file footstep_marker.cpp.

◆ getDefaultLeftLegOffset()

FootstepTrans FootstepMarker::getDefaultLeftLegOffset ( )
protectedvirtual

Definition at line 753 of file footstep_marker.cpp.

◆ getDefaultRightLegOffset()

FootstepTrans FootstepMarker::getDefaultRightLegOffset ( )
protectedvirtual

Definition at line 757 of file footstep_marker.cpp.

◆ getFootstepMarkerPoseService()

bool FootstepMarker::getFootstepMarkerPoseService ( jsk_interactive_marker::GetTransformableMarkerPose::Request &  req,
jsk_interactive_marker::GetTransformableMarkerPose::Response &  res 
)
protectedvirtual

Definition at line 1208 of file footstep_marker.cpp.

◆ getLatestCurrentFootstepPoses()

PosePair::Ptr FootstepMarker::getLatestCurrentFootstepPoses ( )
protectedvirtual

Definition at line 1039 of file footstep_marker.cpp.

◆ goalBoundingBoxMarker()

visualization_msgs::Marker FootstepMarker::goalBoundingBoxMarker ( const std_msgs::Header &  header,
const geometry_msgs::Pose &  pose 
)
protectedvirtual

Definition at line 942 of file footstep_marker.cpp.

◆ makeFootstepMarker()

visualization_msgs::Marker FootstepMarker::makeFootstepMarker ( FootstepTrans  pose,
unsigned char  leg 
)
protectedvirtual

Definition at line 221 of file footstep_marker.cpp.

◆ originBoundingBoxMarker()

visualization_msgs::Marker FootstepMarker::originBoundingBoxMarker ( const std_msgs::Header &  header,
const geometry_msgs::Pose &  pose 
)
protectedvirtual

Definition at line 926 of file footstep_marker.cpp.

◆ originMarker()

visualization_msgs::Marker FootstepMarker::originMarker ( const std_msgs::Header &  header,
const geometry_msgs::Pose &  pose 
)
protectedvirtual

Definition at line 868 of file footstep_marker.cpp.

◆ plan()

void FootstepMarker::plan ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 696 of file footstep_marker.cpp.

◆ planDoneCB()

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

Definition at line 735 of file footstep_marker.cpp.

◆ planIfPossible()

void FootstepMarker::planIfPossible ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 744 of file footstep_marker.cpp.

◆ poseStampedCommandCallback()

void FootstepMarker::poseStampedCommandCallback ( const geometry_msgs::PoseStamped::ConstPtr &  msg)
protectedvirtual

Definition at line 1083 of file footstep_marker.cpp.

◆ processFeedbackCB()

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

Definition at line 761 of file footstep_marker.cpp.

◆ processMenuFeedbackCB()

void FootstepMarker::processMenuFeedbackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 655 of file footstep_marker.cpp.

◆ processPoseUpdateCB()

void FootstepMarker::processPoseUpdateCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 1026 of file footstep_marker.cpp.

◆ publishCurrentMarkerMode()

void FootstepMarker::publishCurrentMarkerMode ( )
protectedvirtual

Definition at line 1244 of file footstep_marker.cpp.

◆ resetInteractiveMarker()

void FootstepMarker::resetInteractiveMarker ( )
protectedvirtual

Definition at line 316 of file footstep_marker.cpp.

◆ resetMarkerCB()

void FootstepMarker::resetMarkerCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 421 of file footstep_marker.cpp.

◆ resetMarkerService()

bool FootstepMarker::resetMarkerService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protectedvirtual

Definition at line 1124 of file footstep_marker.cpp.

◆ setupGoalMarker()

void FootstepMarker::setupGoalMarker ( FootstepTrans  pose,
visualization_msgs::InteractiveMarker &  int_marker 
)
protectedvirtual

Definition at line 292 of file footstep_marker.cpp.

◆ setupInitialMarker()

void FootstepMarker::setupInitialMarker ( PosePair::Ptr  leg_poses,
visualization_msgs::InteractiveMarker &  int_marker 
)
protectedvirtual

Definition at line 267 of file footstep_marker.cpp.

◆ setupMenuHandler()

void FootstepMarker::setupMenuHandler ( )
protectedvirtual

Definition at line 364 of file footstep_marker.cpp.

◆ stackedPosesMarker()

visualization_msgs::Marker FootstepMarker::stackedPosesMarker ( const std_msgs::Header &  header,
const geometry_msgs::Pose &  pose 
)
protectedvirtual

Definition at line 960 of file footstep_marker.cpp.

◆ stackFootstepCB()

void FootstepMarker::stackFootstepCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback)
protectedvirtual

Definition at line 438 of file footstep_marker.cpp.

◆ stackMarkerPoseService()

bool FootstepMarker::stackMarkerPoseService ( jsk_interactive_marker::SetPose::Request &  req,
jsk_interactive_marker::SetPose::Response &  res 
)
protectedvirtual

Definition at line 1227 of file footstep_marker.cpp.

◆ targetArrow()

visualization_msgs::Marker FootstepMarker::targetArrow ( const std_msgs::Header &  header,
const geometry_msgs::Pose &  pose 
)
protectedvirtual

Definition at line 799 of file footstep_marker.cpp.

◆ toggleFootstepMarkerModeService()

bool FootstepMarker::toggleFootstepMarkerModeService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protectedvirtual

Definition at line 1136 of file footstep_marker.cpp.

◆ updateMarkerArray()

void FootstepMarker::updateMarkerArray ( const std_msgs::Header &  header,
const geometry_msgs::Pose &  pose 
)
protectedvirtual

Definition at line 1014 of file footstep_marker.cpp.

◆ waitForExecuteFootstepService()

bool FootstepMarker::waitForExecuteFootstepService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protectedvirtual

Definition at line 1184 of file footstep_marker.cpp.

◆ waitForFootstepPlanService()

bool FootstepMarker::waitForFootstepPlanService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protectedvirtual

Definition at line 1196 of file footstep_marker.cpp.

Member Data Documentation

◆ ac_exec_

ExecuteActionClient jsk_footstep_planner::FootstepMarker::ac_exec_
protected

Definition at line 249 of file footstep_marker.h.

◆ ac_planner_

PlanningActionClient jsk_footstep_planner::FootstepMarker::ac_planner_
protected

Definition at line 248 of file footstep_marker.h.

◆ collision_bbox_offset_

FootstepTrans jsk_footstep_planner::FootstepMarker::collision_bbox_offset_
protected

Definition at line 293 of file footstep_marker.h.

◆ collision_bbox_size_

FootstepVec jsk_footstep_planner::FootstepMarker::collision_bbox_size_
protected

Definition at line 292 of file footstep_marker.h.

◆ command_mode_

CommandMode jsk_footstep_planner::FootstepMarker::command_mode_
protected

Definition at line 284 of file footstep_marker.h.

◆ cont_mode_

interactive_markers::MenuHandler::EntryHandle jsk_footstep_planner::FootstepMarker::cont_mode_
protected

Definition at line 280 of file footstep_marker.h.

◆ cube_mode_

interactive_markers::MenuHandler::EntryHandle jsk_footstep_planner::FootstepMarker::cube_mode_
protected

Definition at line 277 of file footstep_marker.h.

◆ current_lleg_offset_

FootstepTrans jsk_footstep_planner::FootstepMarker::current_lleg_offset_
protected

Definition at line 265 of file footstep_marker.h.

◆ current_rleg_offset_

FootstepTrans jsk_footstep_planner::FootstepMarker::current_rleg_offset_
protected

Definition at line 265 of file footstep_marker.h.

◆ default_footstep_margin_

double jsk_footstep_planner::FootstepMarker::default_footstep_margin_
protected

Definition at line 267 of file footstep_marker.h.

◆ disable_tf_

bool jsk_footstep_planner::FootstepMarker::disable_tf_
protected

Definition at line 287 of file footstep_marker.h.

◆ entry_2d_mode_

interactive_markers::MenuHandler::EntryHandle jsk_footstep_planner::FootstepMarker::entry_2d_mode_
protected

Definition at line 275 of file footstep_marker.h.

◆ entry_3d_mode_

interactive_markers::MenuHandler::EntryHandle jsk_footstep_planner::FootstepMarker::entry_3d_mode_
protected

Definition at line 276 of file footstep_marker.h.

◆ foot_size_x_

double jsk_footstep_planner::FootstepMarker::foot_size_x_
protected

Definition at line 286 of file footstep_marker.h.

◆ foot_size_y_

double jsk_footstep_planner::FootstepMarker::foot_size_y_
protected

Definition at line 286 of file footstep_marker.h.

◆ foot_size_z_

double jsk_footstep_planner::FootstepMarker::foot_size_z_
protected

Definition at line 286 of file footstep_marker.h.

◆ have_last_step_

bool jsk_footstep_planner::FootstepMarker::have_last_step_
protected

Definition at line 295 of file footstep_marker.h.

◆ is_2d_mode_

bool jsk_footstep_planner::FootstepMarker::is_2d_mode_
protected

Definition at line 282 of file footstep_marker.h.

◆ is_cube_mode_

bool jsk_footstep_planner::FootstepMarker::is_cube_mode_
protected

Definition at line 283 of file footstep_marker.h.

◆ last_steps_

jsk_footstep_msgs::Footstep jsk_footstep_planner::FootstepMarker::last_steps_[2]
protected

Definition at line 296 of file footstep_marker.h.

◆ line_mode_

interactive_markers::MenuHandler::EntryHandle jsk_footstep_planner::FootstepMarker::line_mode_
protected

Definition at line 278 of file footstep_marker.h.

◆ lleg_end_coords_

std::string jsk_footstep_planner::FootstepMarker::lleg_end_coords_
protected

Definition at line 262 of file footstep_marker.h.

◆ lleg_footstep_offset_

FootstepVec jsk_footstep_planner::FootstepMarker::lleg_footstep_offset_
protected

Definition at line 266 of file footstep_marker.h.

◆ lleg_goal_pose_

FootstepTrans jsk_footstep_planner::FootstepMarker::lleg_goal_pose_
protected

Definition at line 264 of file footstep_marker.h.

◆ menu_handler_

interactive_markers::MenuHandler jsk_footstep_planner::FootstepMarker::menu_handler_
protected

Definition at line 273 of file footstep_marker.h.

◆ nh_

ros::NodeHandle jsk_footstep_planner::FootstepMarker::nh_
protected

Definition at line 244 of file footstep_marker.h.

◆ odom_frame_id_

std::string jsk_footstep_planner::FootstepMarker::odom_frame_id_
protected

Definition at line 261 of file footstep_marker.h.

◆ original_foot_poses_

PosePair::Ptr jsk_footstep_planner::FootstepMarker::original_foot_poses_
protected

Definition at line 263 of file footstep_marker.h.

◆ plan_result_

jsk_footstep_msgs::FootstepArray jsk_footstep_planner::FootstepMarker::plan_result_
protected

Definition at line 269 of file footstep_marker.h.

◆ planner_mutex_

boost::mutex jsk_footstep_planner::FootstepMarker::planner_mutex_
protected

Definition at line 290 of file footstep_marker.h.

◆ planning_state_

PlanningState jsk_footstep_planner::FootstepMarker::planning_state_
protected

Definition at line 291 of file footstep_marker.h.

◆ pnh_

ros::NodeHandle jsk_footstep_planner::FootstepMarker::pnh_
protected

Definition at line 245 of file footstep_marker.h.

◆ pub_current_marker_mode_

ros::Publisher jsk_footstep_planner::FootstepMarker::pub_current_marker_mode_
protected

Definition at line 251 of file footstep_marker.h.

◆ pub_marker_array_

MarkerArrayPublisher jsk_footstep_planner::FootstepMarker::pub_marker_array_
protected

Definition at line 247 of file footstep_marker.h.

◆ pub_plan_result_

ros::Publisher jsk_footstep_planner::FootstepMarker::pub_plan_result_
protected

Definition at line 250 of file footstep_marker.h.

◆ rleg_end_coords_

std::string jsk_footstep_planner::FootstepMarker::rleg_end_coords_
protected

Definition at line 262 of file footstep_marker.h.

◆ rleg_footstep_offset_

FootstepVec jsk_footstep_planner::FootstepMarker::rleg_footstep_offset_
protected

Definition at line 266 of file footstep_marker.h.

◆ rleg_goal_pose_

FootstepTrans jsk_footstep_planner::FootstepMarker::rleg_goal_pose_
protected

Definition at line 264 of file footstep_marker.h.

◆ server_

boost::shared_ptr<interactive_markers::InteractiveMarkerServer> jsk_footstep_planner::FootstepMarker::server_
protected

Definition at line 271 of file footstep_marker.h.

◆ single_mode_

interactive_markers::MenuHandler::EntryHandle jsk_footstep_planner::FootstepMarker::single_mode_
protected

Definition at line 279 of file footstep_marker.h.

◆ srv_

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_footstep_planner::FootstepMarker::srv_
protected

Definition at line 272 of file footstep_marker.h.

◆ srv_execute_footstep_

ros::ServiceServer jsk_footstep_planner::FootstepMarker::srv_execute_footstep_
protected

Definition at line 255 of file footstep_marker.h.

◆ srv_get_fs_marker_pose_

ros::ServiceServer jsk_footstep_planner::FootstepMarker::srv_get_fs_marker_pose_
protected

Definition at line 258 of file footstep_marker.h.

◆ srv_reset_fs_marker_

ros::ServiceServer jsk_footstep_planner::FootstepMarker::srv_reset_fs_marker_
protected

Definition at line 253 of file footstep_marker.h.

◆ srv_stack_marker_pose_

ros::ServiceServer jsk_footstep_planner::FootstepMarker::srv_stack_marker_pose_
protected

Definition at line 259 of file footstep_marker.h.

◆ srv_toggle_fs_com_mode_

ros::ServiceServer jsk_footstep_planner::FootstepMarker::srv_toggle_fs_com_mode_
protected

Definition at line 254 of file footstep_marker.h.

◆ srv_wait_for_exec_fs_

ros::ServiceServer jsk_footstep_planner::FootstepMarker::srv_wait_for_exec_fs_
protected

Definition at line 256 of file footstep_marker.h.

◆ srv_wait_for_fs_plan_

ros::ServiceServer jsk_footstep_planner::FootstepMarker::srv_wait_for_fs_plan_
protected

Definition at line 257 of file footstep_marker.h.

◆ stack_btn_

interactive_markers::MenuHandler::EntryHandle jsk_footstep_planner::FootstepMarker::stack_btn_
protected

Definition at line 274 of file footstep_marker.h.

◆ stack_mode_

interactive_markers::MenuHandler::EntryHandle jsk_footstep_planner::FootstepMarker::stack_mode_
protected

Definition at line 281 of file footstep_marker.h.

◆ stacked_poses_

std::vector<FootstepTrans > jsk_footstep_planner::FootstepMarker::stacked_poses_
protected

Definition at line 297 of file footstep_marker.h.

◆ sub_pose_stamped_command_

ros::Subscriber jsk_footstep_planner::FootstepMarker::sub_pose_stamped_command_
protected

Definition at line 252 of file footstep_marker.h.

◆ tf_client_

boost::shared_ptr<tf2_ros::BufferClient> jsk_footstep_planner::FootstepMarker::tf_client_
protected

Definition at line 270 of file footstep_marker.h.

◆ use_default_goal_

bool jsk_footstep_planner::FootstepMarker::use_default_goal_
protected

Definition at line 288 of file footstep_marker.h.

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

jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Jan 24 2024 04:05:30