Class IMarkerRobotState

Defined in File imarker_robot_state.h

Class Documentation

class IMarkerRobotState

Public Functions

IMarkerRobotState(rclcpp::Node::SharedPtr node, planning_scene_monitor::PlanningSceneMonitorPtr psm, const std::string &imarker_name, std::vector<ArmData> arm_datas, rviz_visual_tools::Colors color, const std::string &package_path): Constructor.

inline ~IMarkerRobotState()

bool loadFromFile(const std::string &file_name)

bool saveToFile()

void setIMarkerCallback(const IMarkerCallback &callback): Set where in the parent class the feedback should be sent.

inline moveit::core::RobotStateConstPtr getRobotState(): Get a pointer to the current robot state.

inline moveit::core::RobotStatePtr getRobotStateNonConst()

void setRobotState(const moveit::core::RobotStatePtr &state): Set the robot state.

void setToCurrentState(): Set the robot state to current in planning scene monitor.

bool setToRandomState(double clearance = 0)

Set the robot to a random position.

Parameters:: clearance – - optional value to ensure random state is not too close to obstacles. 0 is disable
Returns:: true on success

bool isStateValid(bool verbose = false): Return true if the currently solved IK solution is valid.

void publishRobotState(): Show current state in Rviz.

moveit_visual_tools::MoveItVisualToolsPtr getVisualTools()

bool getFilePath(std::string &file_path, const std::string &file_name, const std::string &subdirectory) const

inline IMarkerEndEffectorPtr getEEF(const std::string &name)

bool setFromPoses(const EigenSTL::vector_Isometry3d &poses, const moveit::core::JointModelGroup *group)

Protected Attributes

std::string name_

moveit::core::RobotStatePtr imarker_state_

std::vector<ArmData> arm_datas_

std::vector<IMarkerEndEffectorPtr> end_effectors_

std::map<std::string, IMarkerEndEffectorPtr> name_to_eef_

planning_scene_monitor::PlanningSceneMonitorPtr psm_

moveit_visual_tools::MoveItVisualToolsPtr visual_tools_

std::size_t refresh_rate_ = 30

rviz_visual_tools::Colors color_ = rviz_visual_tools::PURPLE

InteractiveMarkerServerPtr imarker_server_

std::string file_path_

std::ofstream output_file_

std::string package_path_