Convenience class wrapping a planning scene message and its meta-data. More...

#include <move_arm_utils.h>

Public Member Functions
void	addMotionPlanRequestId (unsigned int id)
std::vector < arm_navigation_msgs::ArmNavigationErrorCodes > &	getErrorCodes ()
	Gets a vector of trajectory error codes corresponding 1-1 to each pipeline stage.
std::string	getHostName () const
	Returns the host of the network machine that the planning scene was recorded on.
unsigned int	getId () const
std::string	getName () const
	Returns the unique Id of the planning scene.
unsigned int	getNextMotionPlanRequestId () const
std::vector< std::string > &	getPipelineStages ()
	Returns a vector of arbitrary strings corresponding to the different "pipelines" of the planning scene. These are defined by the user of the warehouse logger reader. They may be things like "planner" "filter", "IK", etc.
arm_navigation_msgs::PlanningScene &	getPlanningScene ()
	Returns the underlying planning scene message.
std::set< unsigned int > &	getRequests ()
	Returns a vector of Motion Plan Ids of the motion plan requests stored in the planning scene.
void	getRobotState (planning_models::KinematicState *state)
	Fills the Kinematic state passed into the function with the values specified by the robot state message inside the underlying planning scene message.
const ros::Time &	getTimeStamp () const
	Returns the time that the planning scene was recorded (ignores sim time)
bool	hasMotionPlanRequestId (unsigned int id) const
	PlanningSceneData ()
	PlanningSceneData (unsigned int id, const ros::Time &timestamp, const arm_navigation_msgs::PlanningScene &scene)
void	removeMotionPlanRequestId (unsigned int id)
void	setErrorCodes (std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &error_codes)
	see getErrorCodes
void	setHostName (std::string host)
	Set the host of the network machine that the planning scene was recorded on.
void	setId (unsigned int id)
void	setPipelineStages (std::vector< std::string > &stages)
	see getPipelineStages
void	setPlanningScene (const arm_navigation_msgs::PlanningScene &scene)
	Sets the underlying planning scene message.
void	setTimeStamp (const ros::Time &time)
	Sets the time that the planning scene was recorded.
Protected Attributes
std::vector < arm_navigation_msgs::ArmNavigationErrorCodes >	error_codes_
std::string	host_
unsigned int	id_
std::set< unsigned int >	motion_plan_requests_
std::string	name_
std::vector< std::string >	pipeline_stages_
arm_navigation_msgs::PlanningScene	planning_scene_
ros::Time	timestamp_

Detailed Description

Convenience class wrapping a planning scene message and its meta-data.

Class PlanningSceneData

Definition at line 202 of file move_arm_utils.h.

Constructor & Destructor Documentation

PlanningSceneData::PlanningSceneData ( )

Definition at line 87 of file move_arm_utils.cpp.

PlanningSceneData::PlanningSceneData	(	unsigned int	id,
		const ros::Time &	timestamp,
		const arm_navigation_msgs::PlanningScene &	scene
	)

Definition at line 93 of file move_arm_utils.cpp.

Member Function Documentation

void planning_scene_utils::PlanningSceneData::addMotionPlanRequestId ( unsigned int id ) [inline]

Definition at line 312 of file move_arm_utils.h.

std::vector<arm_navigation_msgs::ArmNavigationErrorCodes>& planning_scene_utils::PlanningSceneData::getErrorCodes ( ) [inline]

Gets a vector of trajectory error codes corresponding 1-1 to each pipeline stage.

Definition at line 287 of file move_arm_utils.h.

std::string planning_scene_utils::PlanningSceneData::getHostName ( ) const [inline]

Returns the host of the network machine that the planning scene was recorded on.

Definition at line 219 of file move_arm_utils.h.

unsigned int planning_scene_utils::PlanningSceneData::getId ( ) const [inline]

Definition at line 236 of file move_arm_utils.h.

std::string planning_scene_utils::PlanningSceneData::getName ( void ) const [inline]

Returns the unique Id of the planning scene.

Definition at line 231 of file move_arm_utils.h.

unsigned int planning_scene_utils::PlanningSceneData::getNextMotionPlanRequestId ( ) const [inline]

Definition at line 320 of file move_arm_utils.h.

std::vector<std::string>& planning_scene_utils::PlanningSceneData::getPipelineStages ( ) [inline]

Returns a vector of arbitrary strings corresponding to the different "pipelines" of the planning scene. These are defined by the user of the warehouse logger reader. They may be things like "planner" "filter", "IK", etc.

Definition at line 275 of file move_arm_utils.h.

arm_navigation_msgs::PlanningScene& planning_scene_utils::PlanningSceneData::getPlanningScene ( ) [inline]

Returns the underlying planning scene message.

Definition at line 248 of file move_arm_utils.h.

std::set<unsigned int>& planning_scene_utils::PlanningSceneData::getRequests ( ) [inline]

Returns a vector of Motion Plan Ids of the motion plan requests stored in the planning scene.

Definition at line 299 of file move_arm_utils.h.

void PlanningSceneData::getRobotState ( planning_models::KinematicState * state )

Fills the Kinematic state passed into the function with the values specified by the robot state message inside the underlying planning scene message.

Definition at line 100 of file move_arm_utils.cpp.

const ros::Time& planning_scene_utils::PlanningSceneData::getTimeStamp ( ) const [inline]

Returns the time that the planning scene was recorded (ignores sim time)

Definition at line 242 of file move_arm_utils.h.

bool planning_scene_utils::PlanningSceneData::hasMotionPlanRequestId ( unsigned int id ) const [inline]

Definition at line 308 of file move_arm_utils.h.

void planning_scene_utils::PlanningSceneData::removeMotionPlanRequestId ( unsigned int id ) [inline]

Definition at line 316 of file move_arm_utils.h.

void planning_scene_utils::PlanningSceneData::setErrorCodes ( std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > & error_codes ) [inline]