Definition at line 134 of file move_arm_simple_action.cpp.
move_arm::MoveArm::MoveArm | ( | const std::string & | group_name | ) | [inline] |
Definition at line 138 of file move_arm_simple_action.cpp.
virtual move_arm::MoveArm::~MoveArm | ( | ) | [inline, virtual] |
Definition at line 176 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::computeIK | ( | const geometry_msgs::PoseStamped & | pose_stamped_msg, |
const std::string & | link_name, | ||
sensor_msgs::JointState & | solution | ||
) | [inline, private] |
Definition at line 289 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::configure | ( | void | ) | [inline] |
Definition at line 182 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::controllerTransitionCallback | ( | JointExecutorActionClient::GoalHandle | gh | ) | [inline, private] |
Definition at line 689 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::convertPoseGoalToJointGoal | ( | arm_navigation_msgs::GetMotionPlan::Request & | req | ) | [inline, private] |
Kinematics
Definition at line 209 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::createPlan | ( | arm_navigation_msgs::GetMotionPlan::Request & | req, |
arm_navigation_msgs::GetMotionPlan::Response & | res | ||
) | [inline, private] |
Definition at line 590 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::discretizeTrajectory | ( | const trajectory_msgs::JointTrajectory & | trajectory, |
trajectory_msgs::JointTrajectory & | trajectory_out, | ||
const double & | trajectory_discretization | ||
) | [inline, private] |
End Trajectory Filtering
Definition at line 373 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::doPrePlanningChecks | ( | arm_navigation_msgs::GetMotionPlan::Request & | req, |
arm_navigation_msgs::GetMotionPlan::Response & | res | ||
) | [inline, private] |
Definition at line 490 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::execute | ( | const arm_navigation_msgs::MoveArmGoalConstPtr & | goal | ) | [inline, private] |
Definition at line 1073 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::executeCycle | ( | arm_navigation_msgs::GetMotionPlan::Request & | req | ) | [inline, private] |
Definition at line 846 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::fillTrajectoryMsg | ( | const trajectory_msgs::JointTrajectory & | trajectory_in, |
trajectory_msgs::JointTrajectory & | trajectory_out | ||
) | [inline, private] |
Definition at line 749 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::filterTrajectory | ( | const trajectory_msgs::JointTrajectory & | trajectory_in, |
trajectory_msgs::JointTrajectory & | trajectory_out | ||
) | [inline, private] |
End Kinematics Trajectory Filtering
Definition at line 333 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::getAndSetPlanningScene | ( | const arm_navigation_msgs::PlanningScene & | planning_diff, |
const arm_navigation_msgs::OrderedCollisionOperations & | operations | ||
) | [inline, private] |
Definition at line 1174 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::getRobotState | ( | planning_models::KinematicState * | state | ) | [inline, private] |
Definition at line 444 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::hasPoseGoal | ( | arm_navigation_msgs::GetMotionPlan::Request & | req | ) | [inline, private] |
Definition at line 421 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::initializeControllerInterface | ( | ) | [inline, private] |
End Motion planning Control
Definition at line 623 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::isControllerDone | ( | arm_navigation_msgs::ArmNavigationErrorCodes & | error_code | ) | [inline, private] |
Definition at line 734 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::isExecutionSafe | ( | ) | [inline, private] |
Definition at line 440 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::isJointGoal | ( | arm_navigation_msgs::GetMotionPlan::Request & | req | ) | [inline, private] |
Definition at line 429 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::isPoseGoal | ( | arm_navigation_msgs::GetMotionPlan::Request & | req | ) | [inline, private] |
State and trajectory validity checks Helper functions
Definition at line 412 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::moveArmGoalToPlannerRequest | ( | const arm_navigation_msgs::MoveArmGoalConstPtr & | goal, |
arm_navigation_msgs::GetMotionPlan::Request & | req | ||
) | [inline, private] |
End Helper Functions Motion planning
Definition at line 467 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::printTrajectory | ( | const trajectory_msgs::JointTrajectory & | trajectory | ) | [inline, private] |
Definition at line 1240 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::publishStats | ( | ) | [inline, private] |
End State machine Visualization and I/O
Definition at line 1221 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::resetStateMachine | ( | ) | [inline, private] |
End Control State machine
Definition at line 839 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::resetToStartState | ( | planning_models::KinematicState * | state | ) | [inline, private] |
Definition at line 1202 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::revertPlanningScene | ( | ) | [inline, private] |
Definition at line 1206 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::sendTrajectory | ( | trajectory_msgs::JointTrajectory & | current_trajectory | ) | [inline, private] |
Definition at line 652 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::stopTrajectory | ( | ) | [inline, private] |
Definition at line 644 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::visualizeAllowedContactRegions | ( | const std::vector< arm_navigation_msgs::AllowedContactSpecification > & | allowed_contacts | ) | [inline, private] |
Definition at line 1297 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::visualizeJointGoal | ( | arm_navigation_msgs::GetMotionPlan::Request & | req | ) | [inline, private] |
Definition at line 1251 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::visualizeJointGoal | ( | const trajectory_msgs::JointTrajectory & | trajectory | ) | [inline, private] |
Definition at line 1270 of file move_arm_simple_action.cpp.
void move_arm::MoveArm::visualizePlan | ( | const trajectory_msgs::JointTrajectory & | trajectory | ) | [inline, private] |
Definition at line 1282 of file move_arm_simple_action.cpp.
boost::shared_ptr<actionlib::SimpleActionServer<arm_navigation_msgs::MoveArmAction> > move_arm::MoveArm::action_server_ [private] |
Definition at line 1379 of file move_arm_simple_action.cpp.
std::vector<std::string> move_arm::MoveArm::all_link_names_ [private] |
Definition at line 1397 of file move_arm_simple_action.cpp.
Definition at line 1405 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::arm_ik_initialized_ [private] |
Definition at line 1420 of file move_arm_simple_action.cpp.
Definition at line 1381 of file move_arm_simple_action.cpp.
Definition at line 1415 of file move_arm_simple_action.cpp.
Definition at line 1416 of file move_arm_simple_action.cpp.
Definition at line 1413 of file move_arm_simple_action.cpp.
Definition at line 1385 of file move_arm_simple_action.cpp.
trajectory_msgs::JointTrajectory move_arm::MoveArm::current_trajectory_ [private] |
Definition at line 1391 of file move_arm_simple_action.cpp.
Definition at line 1404 of file move_arm_simple_action.cpp.
Definition at line 1403 of file move_arm_simple_action.cpp.
Definition at line 1408 of file move_arm_simple_action.cpp.
Definition at line 1409 of file move_arm_simple_action.cpp.
std::string move_arm::MoveArm::group_ [private] |
End Visualization and I/O
Definition at line 1374 of file move_arm_simple_action.cpp.
std::vector<std::string> move_arm::MoveArm::group_joint_names_ [private] |
Definition at line 1395 of file move_arm_simple_action.cpp.
std::vector<std::string> move_arm::MoveArm::group_link_names_ [private] |
Definition at line 1396 of file move_arm_simple_action.cpp.
double move_arm::MoveArm::ik_allowed_time_ [private] |
Definition at line 1418 of file move_arm_simple_action.cpp.
Definition at line 1376 of file move_arm_simple_action.cpp.
Definition at line 1399 of file move_arm_simple_action.cpp.
Definition at line 1398 of file move_arm_simple_action.cpp.
double move_arm::MoveArm::move_arm_frequency_ [private] |
Definition at line 1390 of file move_arm_simple_action.cpp.
Definition at line 1411 of file move_arm_simple_action.cpp.
Definition at line 1423 of file move_arm_simple_action.cpp.
int move_arm::MoveArm::num_planning_attempts_ [private] |
Definition at line 1393 of file move_arm_simple_action.cpp.
Definition at line 1401 of file move_arm_simple_action.cpp.
Definition at line 1386 of file move_arm_simple_action.cpp.
Definition at line 1378 of file move_arm_simple_action.cpp.
bool move_arm::MoveArm::publish_stats_ [private] |
Definition at line 1422 of file move_arm_simple_action.cpp.
Definition at line 1378 of file move_arm_simple_action.cpp.
Definition at line 1410 of file move_arm_simple_action.cpp.
arm_navigation_msgs::SetPlanningSceneDiff::Request move_arm::MoveArm::set_planning_scene_diff_req_ [private] |
Definition at line 1383 of file move_arm_simple_action.cpp.
arm_navigation_msgs::SetPlanningSceneDiff::Response move_arm::MoveArm::set_planning_scene_diff_res_ [private] |
Definition at line 1384 of file move_arm_simple_action.cpp.
MoveArmState move_arm::MoveArm::state_ [private] |
Definition at line 1389 of file move_arm_simple_action.cpp.
Definition at line 1424 of file move_arm_simple_action.cpp.
tf::TransformListener* move_arm::MoveArm::tf_ [private] |
Definition at line 1388 of file move_arm_simple_action.cpp.
Definition at line 1377 of file move_arm_simple_action.cpp.
double move_arm::MoveArm::trajectory_discretization_ [private] |
Definition at line 1419 of file move_arm_simple_action.cpp.
double move_arm::MoveArm::trajectory_filter_allowed_time_ [private] |
Definition at line 1418 of file move_arm_simple_action.cpp.
Definition at line 1377 of file move_arm_simple_action.cpp.
Definition at line 1377 of file move_arm_simple_action.cpp.
Definition at line 1407 of file move_arm_simple_action.cpp.
Definition at line 1406 of file move_arm_simple_action.cpp.