#include <footstep_marker.h>

Public Types
typedef actionlib::SimpleActionClient < jsk_footstep_msgs::ExecFootstepsAction >	ExecuteActionClient
typedef message_filters::sync_policies::ExactTime < jsk_pcl_ros::PolygonArray, jsk_pcl_ros::ModelCoefficientsArray >	PlaneSyncPolicy
typedef actionlib::SimpleActionClient < jsk_footstep_msgs::PlanFootstepsAction >	PlanningActionClient
typedef jsk_footstep_msgs::PlanFootstepsResult	PlanResult
Public Member Functions
	FootstepMarker ()
void	updateInitialFootstep ()
virtual	~FootstepMarker ()
Protected Member Functions
void	callEstimateOcclusion ()
void	cancelWalk ()
geometry_msgs::Pose	computeLegTransformation (uint8_t leg)
geometry_msgs::Polygon	computePolygon (uint8_t leg)
void	executeCB (const std_msgs::Empty::ConstPtr &msg)
void	executeFootstep ()
geometry_msgs::Pose	getFootstepPose (bool leftp)
void	initializeInteractiveMarker ()
visualization_msgs::Marker	makeFootstepMarker (geometry_msgs::Pose pose)
void	menuCommandCB (const std_msgs::UInt8::ConstPtr &msg)
void	menuFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	moveMarkerCB (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	planDoneCB (const actionlib::SimpleClientGoalState &state, const PlanResult::ConstPtr &result)
void	planeCB (const jsk_pcl_ros::PolygonArray::ConstPtr &planes, const jsk_pcl_ros::ModelCoefficientsArray::ConstPtr &coefficients)
void	planIfPossible ()
void	processFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	processMenuFeedback (uint8_t id)
bool	projectMarkerToPlane ()
double	projectPoseToPlane (const std::vector< geometry_msgs::PointStamped > &polygon, const geometry_msgs::PoseStamped &point, geometry_msgs::PoseStamped &foot)
void	readPoseParam (ros::NodeHandle &pnh, const std::string param, tf::Transform &offset)
void	resetLegPoses ()
void	resumeCB (const std_msgs::Empty::ConstPtr &msg)
void	resumeFootstep ()
void	snapLegs ()
void	transformPolygon (const geometry_msgs::PolygonStamped &polygon, const std_msgs::Header &target_header, std::vector< geometry_msgs::PointStamped > &output_points)
Protected Attributes
PlanningActionClient	ac_
ExecuteActionClient	ac_exec_
message_filters::Subscriber < jsk_pcl_ros::ModelCoefficientsArray >	coefficients_sub_
ros::ServiceClient	estimate_occlusion_client_
ros::Subscriber	exec_sub_
double	foot_size_x_
double	foot_size_y_
double	foot_size_z_
double	footstep_margin_
ros::Publisher	footstep_pub_
std::string	initial_reference_frame_
jsk_pcl_ros::ModelCoefficientsArray::ConstPtr	latest_coefficients_
jsk_pcl_ros::PolygonArray::ConstPtr	latest_planes_
std::string	lfoot_frame_id_
geometry_msgs::Pose	lleg_initial_pose_
tf::Transform	lleg_offset_
geometry_msgs::Pose	lleg_pose_
std::string	marker_frame_id_
geometry_msgs::PoseStamped	marker_pose_
ros::Subscriber	menu_command_sub_
interactive_markers::MenuHandler	menu_handler_
ros::Subscriber	move_marker_sub_
PlanResult::ConstPtr	plan_result_
bool	plan_run_
boost::mutex	plan_run_mutex_
boost::mutex	plane_mutex_
message_filters::Subscriber < jsk_pcl_ros::PolygonArray >	polygons_sub_
ros::Subscriber	resume_sub_
std::string	rfoot_frame_id_
geometry_msgs::Pose	rleg_initial_pose_
tf::Transform	rleg_offset_
geometry_msgs::Pose	rleg_pose_
boost::shared_ptr < interactive_markers::InteractiveMarkerServer >	server_
bool	show_6dof_control_
ros::ServiceClient	snapit_client_
ros::Publisher	snapped_pose_pub_
boost::shared_ptr < message_filters::Synchronizer < PlaneSyncPolicy > >	sync_
boost::shared_ptr < tf::TransformListener >	tf_listener_
bool	use_footstep_controller_
bool	use_footstep_planner_
bool	use_initial_footstep_tf_
bool	use_initial_reference_
bool	use_plane_snap_
bool	wait_snapit_server_

Detailed Description

Definition at line 27 of file footstep_marker.h.

Member Typedef Documentation

typedef actionlib::SimpleActionClient<jsk_footstep_msgs::ExecFootstepsAction> FootstepMarker::ExecuteActionClient

Definition at line 37 of file footstep_marker.h.

typedef message_filters::sync_policies::ExactTime< jsk_pcl_ros::PolygonArray, jsk_pcl_ros::ModelCoefficientsArray> FootstepMarker::PlaneSyncPolicy

Definition at line 33 of file footstep_marker.h.

typedef actionlib::SimpleActionClient<jsk_footstep_msgs::PlanFootstepsAction> FootstepMarker::PlanningActionClient

Definition at line 35 of file footstep_marker.h.

typedef jsk_footstep_msgs::PlanFootstepsResult FootstepMarker::PlanResult

Definition at line 38 of file footstep_marker.h.

Constructor & Destructor Documentation

FootstepMarker::FootstepMarker ( )

Definition at line 15 of file footstep_marker.cpp.

FootstepMarker::~FootstepMarker ( ) [virtual]

Definition at line 756 of file footstep_marker.cpp.

Member Function Documentation

void FootstepMarker::callEstimateOcclusion ( ) [protected]

Definition at line 360 of file footstep_marker.cpp.

void FootstepMarker::cancelWalk ( ) [protected]

Definition at line 353 of file footstep_marker.cpp.

geometry_msgs::Pose FootstepMarker::computeLegTransformation ( uint8_t leg ) [protected]

Definition at line 208 of file footstep_marker.cpp.

geometry_msgs::Polygon FootstepMarker::computePolygon ( uint8_t leg ) [protected]

Definition at line 245 of file footstep_marker.cpp.

void FootstepMarker::executeCB ( const std_msgs::Empty::ConstPtr & msg ) [protected]

Definition at line 278 of file footstep_marker.cpp.

void FootstepMarker::executeFootstep ( ) [protected]

Definition at line 545 of file footstep_marker.cpp.

geometry_msgs::Pose FootstepMarker::getFootstepPose ( bool leftp ) [protected]

Definition at line 619 of file footstep_marker.cpp.

void FootstepMarker::initializeInteractiveMarker ( ) [protected]

Definition at line 686 of file footstep_marker.cpp.

visualization_msgs::Marker FootstepMarker::makeFootstepMarker ( geometry_msgs::Pose pose ) [protected]

Definition at line 675 of file footstep_marker.cpp.

void FootstepMarker::menuCommandCB ( const std_msgs::UInt8::ConstPtr & msg ) [protected]

Definition at line 286 of file footstep_marker.cpp.

void FootstepMarker::menuFeedbackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 505 of file footstep_marker.cpp.

void FootstepMarker::moveMarkerCB ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [protected]

Definition at line 651 of file footstep_marker.cpp.

void FootstepMarker::planDoneCB	(	const actionlib::SimpleClientGoalState &	state,
		const PlanResult::ConstPtr &	result
	)		`[protected]`

Definition at line 608 of file footstep_marker.cpp.

void FootstepMarker::planeCB	(	const jsk_pcl_ros::PolygonArray::ConstPtr &	planes,
		const jsk_pcl_ros::ModelCoefficientsArray::ConstPtr &	coefficients
	)		`[protected]`

Definition at line 759 of file footstep_marker.cpp.

void FootstepMarker::planIfPossible ( ) [protected]

Definition at line 569 of file footstep_marker.cpp.

void FootstepMarker::processFeedbackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [protected]

Definition at line 509 of file footstep_marker.cpp.

void FootstepMarker::processMenuFeedback ( uint8_t id ) [protected]

Definition at line 311 of file footstep_marker.cpp.

bool FootstepMarker::projectMarkerToPlane ( ) [protected]

Definition at line 465 of file footstep_marker.cpp.

double FootstepMarker::projectPoseToPlane	(	const std::vector< geometry_msgs::PointStamped > &	polygon,
		const geometry_msgs::PoseStamped &	point,
		geometry_msgs::PoseStamped &	foot
	)		`[protected]`

Definition at line 366 of file footstep_marker.cpp.

void FootstepMarker::readPoseParam	(	ros::NodeHandle &	pnh,
		const std::string	param,
		tf::Transform &	offset
	)		`[protected]`

Definition at line 158 of file footstep_marker.cpp.

void FootstepMarker::resetLegPoses ( ) [protected]

Definition at line 190 of file footstep_marker.cpp.

void FootstepMarker::resumeCB ( const std_msgs::Empty::ConstPtr & msg ) [protected]

Definition at line 282 of file footstep_marker.cpp.

void FootstepMarker::resumeFootstep ( ) [protected]

Definition at line 531 of file footstep_marker.cpp.

void FootstepMarker::snapLegs ( ) [protected]

Definition at line 236 of file footstep_marker.cpp.

void FootstepMarker::transformPolygon	(	const geometry_msgs::PolygonStamped &	polygon,
		const std_msgs::Header &	target_header,
		std::vector< geometry_msgs::PointStamped > &	output_points
	)		`[protected]`