BasePoseAction Class Reference

An action for getting a full robot pose using interactive markers. More...

List of all members.

Public Member Functions
	BasePoseAction ()
geometry_msgs::PoseStamped	getDefaultPose ()
void	goalCB ()
	Callback to accept a new action goal.
void	initControlMarkers ()
void	initMarkers ()
	Re-initializes all markers.
void	initMeshMarkers ()
void	preemptCB ()
	Callback to allow this action to get preempted by backend.
void	setIdle ()
	Remove the markers.
void	setSeed (const geometry_msgs::PoseStampedConstPtr &seed)
void	updatePoses ()
	Update the pose of certain markers.
	~BasePoseAction ()
Protected Member Functions
void	acceptCB ()
	Return with the gripper pose if the pose is valid, otherwise do nothing.
void	cancelCB ()
	Cancel this action call.
geometry_msgs::PoseStamped	clipToRadius (const geometry_msgs::PoseStamped &input, const float &radius)
void	fast_update ()
	ROS spin update callback.
void	focusCB ()
	Sends a request for the 3D camera to focus on the controls.
void	initMenus ()
	Initialize the menus for all markers.
void	poseControlCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Callback for pose updates from the controls.
void	poseMeshCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Called when the gripper is clicked; each call cycles through gripper opening values.
void	slow_update ()
Protected Attributes
MenuHandler::EntryHandle	accept_handle_
bool	active_
geometry_msgs::PoseStamped	base_pose_
MenuHandler::EntryHandle	cancel_handle_
geometry_msgs::PoseStamped	control_offset_
ros::Timer	fast_update_timer_
MenuHandler::EntryHandle	focus_handle_
std::string	get_pose_name_
actionlib::SimpleActionServer < pr2_object_manipulation_msgs::GetNavPoseAction >	get_pose_server_
int	interface_number_
double	max_direct_move_radius_
object_manipulator::MechanismInterface	mechanism_
MenuHandler	menu_controls_
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
ros::Publisher	pub_focus_
InteractiveMarkerServer	server_
ros::Timer	slow_update_timer_
ros::Subscriber	sub_seed_
int	task_number_
int	tested_grasp_index_
bool	testing_current_grasp_
bool	testing_planned_grasp_
tf::TransformListener	tfl_

---

Detailed Description

An action for getting a full robot pose using interactive markers.

Definition at line 78 of file pr2_interactive_nav_action.cpp.

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Constructor & Destructor Documentation

BasePoseAction::BasePoseAction

(

)

[inline]

Definition at line 121 of file pr2_interactive_nav_action.cpp.

BasePoseAction::~BasePoseAction

(

)

[inline]

Definition at line 165 of file pr2_interactive_nav_action.cpp.

---

Member Function Documentation

void BasePoseAction::acceptCB

(

)

[inline, protected]

Return with the gripper pose if the pose is valid, otherwise do nothing.

Definition at line 366 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::cancelCB

(

)

[inline, protected]

Cancel this action call.

Definition at line 376 of file pr2_interactive_nav_action.cpp.

geometry_msgs::PoseStamped BasePoseAction::clipToRadius	(	const geometry_msgs::PoseStamped &	input,
		const float &	radius
	)		[inline, protected]

Definition at line 396 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::fast_update

(

)

[inline, protected]

ROS spin update callback.

Definition at line 354 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::focusCB

(

)

[inline, protected]

Sends a request for the 3D camera to focus on the controls.

Definition at line 383 of file pr2_interactive_nav_action.cpp.

geometry_msgs::PoseStamped BasePoseAction::getDefaultPose

(

)

[inline]

Definition at line 236 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::goalCB

(

)

[inline]

Callback to accept a new action goal.

Definition at line 187 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::initControlMarkers

(

)

[inline]

Definition at line 260 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::initMarkers

(

)

[inline]

Re-initializes all markers.

Definition at line 250 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::initMenus

(

)

[inline, protected]

Initialize the menus for all markers.

Definition at line 466 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::initMeshMarkers

(

)

[inline]

Definition at line 256 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::poseControlCB

(

const visualization_msgs::InteractiveMarkerFeedbackConstPtr &

feedback

)

[inline, protected]

Callback for pose updates from the controls.

Definition at line 440 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::poseMeshCB

(

const visualization_msgs::InteractiveMarkerFeedbackConstPtr &

feedback

)

[inline, protected]

Called when the gripper is clicked; each call cycles through gripper opening values.

Definition at line 392 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::preemptCB

(

)

[inline]

Callback to allow this action to get preempted by backend.

Definition at line 221 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::setIdle

(

)

[inline]

Remove the markers.

Definition at line 180 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::setSeed

(

const geometry_msgs::PoseStampedConstPtr &

seed

)

[inline]

Definition at line 169 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::slow_update

(

)

[inline, protected]

Definition at line 360 of file pr2_interactive_nav_action.cpp.

void BasePoseAction::updatePoses

(

)

[inline]

Update the pose of certain markers.

Definition at line 231 of file pr2_interactive_nav_action.cpp.

---

Member Data Documentation

MenuHandler::EntryHandle BasePoseAction::accept_handle_ [protected]

Definition at line 108 of file pr2_interactive_nav_action.cpp.

bool BasePoseAction::active_ [protected]

Definition at line 87 of file pr2_interactive_nav_action.cpp.

geometry_msgs::PoseStamped BasePoseAction::base_pose_ [protected]

Definition at line 84 of file pr2_interactive_nav_action.cpp.

MenuHandler::EntryHandle BasePoseAction::cancel_handle_ [protected]

Definition at line 109 of file pr2_interactive_nav_action.cpp.

geometry_msgs::PoseStamped BasePoseAction::control_offset_ [protected]

Definition at line 85 of file pr2_interactive_nav_action.cpp.

ros::Timer BasePoseAction::fast_update_timer_ [protected]

Definition at line 101 of file pr2_interactive_nav_action.cpp.

MenuHandler::EntryHandle BasePoseAction::focus_handle_ [protected]

Definition at line 110 of file pr2_interactive_nav_action.cpp.

std::string BasePoseAction::get_pose_name_ [protected]

Definition at line 116 of file pr2_interactive_nav_action.cpp.

actionlib::SimpleActionServer<pr2_object_manipulation_msgs::GetNavPoseAction> BasePoseAction::get_pose_server_ [protected]

Definition at line 117 of file pr2_interactive_nav_action.cpp.

int BasePoseAction::interface_number_ [protected]

Definition at line 89 of file pr2_interactive_nav_action.cpp.

double BasePoseAction::max_direct_move_radius_ [protected]

Definition at line 95 of file pr2_interactive_nav_action.cpp.

object_manipulator::MechanismInterface BasePoseAction::mechanism_ [protected]

Definition at line 114 of file pr2_interactive_nav_action.cpp.

MenuHandler BasePoseAction::menu_controls_ [protected]

Definition at line 107 of file pr2_interactive_nav_action.cpp.

ros::NodeHandle BasePoseAction::nh_ [protected]

Definition at line 97 of file pr2_interactive_nav_action.cpp.

ros::NodeHandle BasePoseAction::pnh_ [protected]

Definition at line 98 of file pr2_interactive_nav_action.cpp.

ros::Publisher BasePoseAction::pub_focus_ [protected]

Definition at line 105 of file pr2_interactive_nav_action.cpp.

InteractiveMarkerServer BasePoseAction::server_ [protected]

Definition at line 103 of file pr2_interactive_nav_action.cpp.

ros::Timer BasePoseAction::slow_update_timer_ [protected]

Definition at line 102 of file pr2_interactive_nav_action.cpp.

ros::Subscriber BasePoseAction::sub_seed_ [protected]

Definition at line 99 of file pr2_interactive_nav_action.cpp.

int BasePoseAction::task_number_ [protected]

Definition at line 90 of file pr2_interactive_nav_action.cpp.

int BasePoseAction::tested_grasp_index_ [protected]

Definition at line 93 of file pr2_interactive_nav_action.cpp.

bool BasePoseAction::testing_current_grasp_ [protected]

Definition at line 94 of file pr2_interactive_nav_action.cpp.

bool BasePoseAction::testing_planned_grasp_ [protected]

Definition at line 92 of file pr2_interactive_nav_action.cpp.

tf::TransformListener BasePoseAction::tfl_ [protected]

Definition at line 112 of file pr2_interactive_nav_action.cpp.

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

• pr2_interactive_nav_action.cpp