moveit_servo::CollisionCheck Class Reference

#include <collision_check.h>

Public Member Functions
	CollisionCheck (ros::NodeHandle &nh, const moveit_servo::ServoParameters &parameters, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor)
	Constructor. More...
void	setPaused (bool paused)
	Pause or unpause processing servo commands while keeping the timers alive. More...
void	start ()
	start the Timer that regulates collision check rate More...
	~CollisionCheck ()

Private Member Functions
planning_scene_monitor::LockedPlanningSceneRO	getLockedPlanningSceneRO () const
	Get a read-only copy of the planning scene. More...
void	run (const ros::TimerEvent &timer_event)
	Run one iteration of collision checking. More...
void	worstCaseStopTimeCB (const std_msgs::Float64ConstPtr &msg)
	Callback for stopping time, from the thread that is aware of velocity and acceleration. More...

Private Attributes
CollisionCheckType	collision_check_type_
bool	collision_detected_ = false
collision_detection::CollisionRequest	collision_request_
collision_detection::CollisionResult	collision_result_
ros::Publisher	collision_velocity_scale_pub_
double	current_collision_distance_ = 0
robot_state::RobotStatePtr	current_state_
double	derivative_of_collision_distance_ = 0
double	est_time_to_collision_ = 0
ros::Subscriber	joint_state_sub_
ros::NodeHandle	nh_
const ServoParameters &	parameters_
bool	paused_ = false
ros::Duration	period_
planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_
double	prev_collision_distance_ = 0
double	safety_factor_ = 1000
double	scene_collision_distance_ = 0
const double	scene_velocity_scale_coefficient_
double	self_collision_distance_ = 0
const double	self_velocity_scale_coefficient_
ros::Timer	timer_
double	velocity_scale_ = 1
double	worst_case_stop_time_ = std::numeric_limits<double>::max()
ros::Subscriber	worst_case_stop_time_sub_

Detailed Description

Definition at line 94 of file collision_check.h.

Constructor & Destructor Documentation

CollisionCheck()

moveit_servo::CollisionCheck::CollisionCheck	(	ros::NodeHandle &	nh,
		const moveit_servo::ServoParameters &	parameters,
		const planning_scene_monitor::PlanningSceneMonitorPtr &	planning_scene_monitor
	)

Constructor.

Parameters

parameters	common settings of moveit_servo
planning_scene_monitor	PSM should have scene monitor and state monitor already started when passed into this class

Definition at line 53 of file collision_check.cpp.

~CollisionCheck()

moveit_servo::CollisionCheck::~CollisionCheck ( )

inline

Definition at line 105 of file collision_check.h.

Member Function Documentation

getLockedPlanningSceneRO()

planning_scene_monitor::LockedPlanningSceneRO moveit_servo::CollisionCheck::getLockedPlanningSceneRO ( ) const

private

Get a read-only copy of the planning scene.

Definition at line 85 of file collision_check.cpp.

run()

void moveit_servo::CollisionCheck::run ( const ros::TimerEvent &  timer_event )

private

Run one iteration of collision checking.

Definition at line 95 of file collision_check.cpp.

setPaused()

void moveit_servo::CollisionCheck::setPaused

(

bool

paused

)

Pause or unpause processing servo commands while keeping the timers alive.

Definition at line 208 of file collision_check.cpp.

start()

void moveit_servo::CollisionCheck::start

(

)

start the Timer that regulates collision check rate

Definition at line 90 of file collision_check.cpp.

worstCaseStopTimeCB()

void moveit_servo::CollisionCheck::worstCaseStopTimeCB ( const std_msgs::Float64ConstPtr &  msg )

private

Callback for stopping time, from the thread that is aware of velocity and acceleration.

Definition at line 203 of file collision_check.cpp.

Member Data Documentation

collision_check_type_

CollisionCheckType moveit_servo::CollisionCheck::collision_check_type_

private

Definition at line 140 of file collision_check.h.

collision_detected_

bool moveit_servo::CollisionCheck::collision_detected_ = false

private

Definition at line 144 of file collision_check.h.

collision_request_

collision_detection::CollisionRequest moveit_servo::CollisionCheck::collision_request_

private

Definition at line 159 of file collision_check.h.

collision_result_

collision_detection::CollisionResult moveit_servo::CollisionCheck::collision_result_

private

Definition at line 160 of file collision_check.h.

collision_velocity_scale_pub_

ros::Publisher moveit_servo::CollisionCheck::collision_velocity_scale_pub_

private

Definition at line 166 of file collision_check.h.

current_collision_distance_

double moveit_servo::CollisionCheck::current_collision_distance_ = 0

private

Definition at line 148 of file collision_check.h.

current_state_

robot_state::RobotStatePtr moveit_servo::CollisionCheck::current_state_

private

Definition at line 135 of file collision_check.h.

derivative_of_collision_distance_

double moveit_servo::CollisionCheck::derivative_of_collision_distance_ = 0

private

Definition at line 149 of file collision_check.h.

est_time_to_collision_

double moveit_servo::CollisionCheck::est_time_to_collision_ = 0

private

Definition at line 151 of file collision_check.h.

joint_state_sub_

ros::Subscriber moveit_servo::CollisionCheck::joint_state_sub_

private

Definition at line 165 of file collision_check.h.

nh_

ros::NodeHandle moveit_servo::CollisionCheck::nh_

private

Definition at line 126 of file collision_check.h.

parameters_

const ServoParameters& moveit_servo::CollisionCheck::parameters_

private

Definition at line 129 of file collision_check.h.

paused_

bool moveit_servo::CollisionCheck::paused_ = false

private

Definition at line 145 of file collision_check.h.

period_

ros::Duration moveit_servo::CollisionCheck::period_

private

Definition at line 164 of file collision_check.h.

planning_scene_monitor_

planning_scene_monitor::PlanningSceneMonitorPtr moveit_servo::CollisionCheck::planning_scene_monitor_

private

Definition at line 132 of file collision_check.h.

prev_collision_distance_

double moveit_servo::CollisionCheck::prev_collision_distance_ = 0

private

Definition at line 150 of file collision_check.h.

safety_factor_

double moveit_servo::CollisionCheck::safety_factor_ = 1000

private

Definition at line 152 of file collision_check.h.

scene_collision_distance_

double moveit_servo::CollisionCheck::scene_collision_distance_ = 0

private

Definition at line 143 of file collision_check.h.

scene_velocity_scale_coefficient_

const double moveit_servo::CollisionCheck::scene_velocity_scale_coefficient_

private

Definition at line 156 of file collision_check.h.

self_collision_distance_

double moveit_servo::CollisionCheck::self_collision_distance_ = 0

private

Definition at line 142 of file collision_check.h.

self_velocity_scale_coefficient_

const double moveit_servo::CollisionCheck::self_velocity_scale_coefficient_

private

Definition at line 155 of file collision_check.h.

timer_

ros::Timer moveit_servo::CollisionCheck::timer_

private

Definition at line 163 of file collision_check.h.

velocity_scale_

double moveit_servo::CollisionCheck::velocity_scale_ = 1

private

Definition at line 141 of file collision_check.h.

worst_case_stop_time_

double moveit_servo::CollisionCheck::worst_case_stop_time_ = std::numeric_limits<double>::max()

private

Definition at line 153 of file collision_check.h.

worst_case_stop_time_sub_

ros::Subscriber moveit_servo::CollisionCheck::worst_case_stop_time_sub_

private

Definition at line 167 of file collision_check.h.

---

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

• collision_check.h
• collision_check.cpp