#include <plan_with_sensing.h>

Classes
class	DynamicReconfigureImpl

Public Member Functions
bool	computePlan (ExecutableMotionPlan &plan, const ExecutableMotionPlanComputationFn &motion_planner, unsigned int max_look_attempts, double max_safe_path_cost)

void	displayCostSources (bool flag)

double	getDiscardOverlappingCostSources () const

unsigned int	getMaxCostSources () const

unsigned int	getMaxLookAttempts () const

double	getMaxSafePathCost () const

const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	getTrajectoryExecutionManager () const

	PlanWithSensing (const trajectory_execution_manager::TrajectoryExecutionManagerPtr &trajectory_execution)

void	setBeforeLookCallback (const boost::function< void()> &callback)

void	setDiscardOverlappingCostSources (double value)

void	setMaxCostSources (unsigned int value)

void	setMaxLookAttempts (unsigned int attempts)

void	setMaxSafePathCost (double max_safe_path_cost)

	~PlanWithSensing ()

Private Member Functions
bool	lookAt (const std::set< collision_detection::CostSource > &cost_sources, const std::string &frame_id)

Private Attributes
boost::function< void()>	before_look_callback_

ros::Publisher	cost_sources_publisher_

unsigned int	default_max_look_attempts_

double	default_max_safe_path_cost_

double	discard_overlapping_cost_sources_

bool	display_cost_sources_

unsigned int	max_cost_sources_

ros::NodeHandle	node_handle_

DynamicReconfigureImpl *	reconfigure_impl_

moveit_sensor_manager::MoveItSensorManagerPtr	sensor_manager_

std::unique_ptr< pluginlib::ClassLoader< moveit_sensor_manager::MoveItSensorManager > >	sensor_manager_loader_

trajectory_execution_manager::TrajectoryExecutionManagerPtr	trajectory_execution_manager_

Detailed Description

Definition at line 85 of file plan_with_sensing.h.

Constructor & Destructor Documentation

◆ PlanWithSensing()

plan_execution::PlanWithSensing::PlanWithSensing ( const trajectory_execution_manager::TrajectoryExecutionManagerPtr & trajectory_execution )

Definition at line 73 of file plan_with_sensing.cpp.

◆ ~PlanWithSensing()

plan_execution::PlanWithSensing::~PlanWithSensing ( )

Definition at line 123 of file plan_with_sensing.cpp.

Member Function Documentation

◆ computePlan()

bool plan_execution::PlanWithSensing::computePlan	(	ExecutableMotionPlan &	plan,
		const ExecutableMotionPlanComputationFn &	motion_planner,
		unsigned int	max_look_attempts,
		double	max_safe_path_cost
	)

Definition at line 139 of file plan_with_sensing.cpp.

◆ displayCostSources()

void plan_execution::PlanWithSensing::displayCostSources ( bool flag )

Definition at line 128 of file plan_with_sensing.cpp.

◆ getDiscardOverlappingCostSources()

double plan_execution::PlanWithSensing::getDiscardOverlappingCostSources ( ) const

inline

Definition at line 129 of file plan_with_sensing.h.

◆ getMaxCostSources()

unsigned int plan_execution::PlanWithSensing::getMaxCostSources ( ) const

inline

Definition at line 119 of file plan_with_sensing.h.

◆ getMaxLookAttempts()

unsigned int plan_execution::PlanWithSensing::getMaxLookAttempts ( ) const

inline

Definition at line 114 of file plan_with_sensing.h.

◆ getMaxSafePathCost()

double plan_execution::PlanWithSensing::getMaxSafePathCost ( ) const

inline

Definition at line 99 of file plan_with_sensing.h.

◆ getTrajectoryExecutionManager()

const trajectory_execution_manager::TrajectoryExecutionManagerPtr& plan_execution::PlanWithSensing::getTrajectoryExecutionManager ( ) const

inline

Definition at line 91 of file plan_with_sensing.h.

◆ lookAt()

bool plan_execution::PlanWithSensing::lookAt	(	const std::set< collision_detection::CostSource > &	cost_sources,
		const std::string &	frame_id
	)

private

Definition at line 246 of file plan_with_sensing.cpp.

◆ setBeforeLookCallback()

void plan_execution::PlanWithSensing::setBeforeLookCallback ( const boost::function< void()> & callback )

inline

Definition at line 139 of file plan_with_sensing.h.

◆ setDiscardOverlappingCostSources()

void plan_execution::PlanWithSensing::setDiscardOverlappingCostSources ( double value )

inline

Definition at line 134 of file plan_with_sensing.h.

◆ setMaxCostSources()

void plan_execution::PlanWithSensing::setMaxCostSources ( unsigned int value )

inline

Definition at line 124 of file plan_with_sensing.h.

◆ setMaxLookAttempts()

void plan_execution::PlanWithSensing::setMaxLookAttempts ( unsigned int attempts )

inline

Definition at line 109 of file plan_with_sensing.h.

◆ setMaxSafePathCost()

void plan_execution::PlanWithSensing::setMaxSafePathCost ( double max_safe_path_cost )

inline

Definition at line 104 of file plan_with_sensing.h.

Member Data Documentation

◆ before_look_callback_

boost::function<void()> plan_execution::PlanWithSensing::before_look_callback_

private

Definition at line 163 of file plan_with_sensing.h.

◆ cost_sources_publisher_

ros::Publisher plan_execution::PlanWithSensing::cost_sources_publisher_

private

Definition at line 161 of file plan_with_sensing.h.

◆ default_max_look_attempts_

unsigned int plan_execution::PlanWithSensing::default_max_look_attempts_

private

Definition at line 154 of file plan_with_sensing.h.

◆ default_max_safe_path_cost_

double plan_execution::PlanWithSensing::default_max_safe_path_cost_

private

Definition at line 155 of file plan_with_sensing.h.

◆ discard_overlapping_cost_sources_

double plan_execution::PlanWithSensing::discard_overlapping_cost_sources_

private

Definition at line 157 of file plan_with_sensing.h.

◆ display_cost_sources_

bool plan_execution::PlanWithSensing::display_cost_sources_

private

Definition at line 160 of file plan_with_sensing.h.

◆ max_cost_sources_

unsigned int plan_execution::PlanWithSensing::max_cost_sources_

private

Definition at line 158 of file plan_with_sensing.h.

◆ node_handle_

ros::NodeHandle plan_execution::PlanWithSensing::node_handle_

private

Definition at line 149 of file plan_with_sensing.h.

◆ reconfigure_impl_

DynamicReconfigureImpl* plan_execution::PlanWithSensing::reconfigure_impl_

private

Definition at line 165 of file plan_with_sensing.h.

◆ sensor_manager_

moveit_sensor_manager::MoveItSensorManagerPtr plan_execution::PlanWithSensing::sensor_manager_

private

Definition at line 153 of file plan_with_sensing.h.

◆ sensor_manager_loader_

std::unique_ptr<pluginlib::ClassLoader<moveit_sensor_manager::MoveItSensorManager> > plan_execution::PlanWithSensing::sensor_manager_loader_

private

Definition at line 152 of file plan_with_sensing.h.

◆ trajectory_execution_manager_

trajectory_execution_manager::TrajectoryExecutionManagerPtr plan_execution::PlanWithSensing::trajectory_execution_manager_

private

Definition at line 150 of file plan_with_sensing.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PlanWithSensing()

◆ ~PlanWithSensing()

Member Function Documentation

◆ computePlan()

◆ displayCostSources()

◆ getDiscardOverlappingCostSources()

◆ getMaxCostSources()

◆ getMaxLookAttempts()

◆ getMaxSafePathCost()

◆ getTrajectoryExecutionManager()

◆ lookAt()

◆ setBeforeLookCallback()

◆ setDiscardOverlappingCostSources()

◆ setMaxCostSources()

◆ setMaxLookAttempts()

◆ setMaxSafePathCost()

Member Data Documentation

◆ before_look_callback_

◆ cost_sources_publisher_

◆ default_max_look_attempts_

◆ default_max_safe_path_cost_

◆ discard_overlapping_cost_sources_

◆ display_cost_sources_

◆ max_cost_sources_

◆ node_handle_

◆ reconfigure_impl_

◆ sensor_manager_

◆ sensor_manager_loader_

◆ trajectory_execution_manager_