#include <main_window.h>

Classes
class	StartState
Public Slots
void	benchmarkFolderButtonClicked (void)
void	checkGoalsInCollision (void)
void	checkGoalsReachable (void)
void	copySelectedGoalPoses (void)
void	createGoalPoseButtonClicked (void)
void	createTrajectoryButtonClicked (void)
void	dbConnectButtonClicked ()
void	dbConnectButtonClickedBackgroundJob ()
void	deleteGoalsOnDBButtonClicked (void)
void	deleteStatesOnDBButtonClicked (void)
void	exitActionTriggered (bool)
void	goalOffsetChanged ()
void	goalPoseDoubleClicked (QListWidgetItem *item)
void	goalPoseFeedback (visualization_msgs::InteractiveMarkerFeedback &feedback)
void	goalPoseSelectionChanged (void)
void	loadBenchmarkResults (void)
void	loadGoalsFromDBButtonClicked (void)
void	loadSceneButtonClicked (void)
void	loadSceneButtonClicked (QListWidgetItem *item)
void	loadStatesFromDBButtonClicked (void)
void	loadTrajectoriesFromDBButtonClicked (void)
void	MainLoop ()
void	openActionTriggered (bool)
void	planningGroupChanged (const QString &text)
void	removeAllGoalsButtonClicked (void)
void	removeAllStatesButtonClicked (void)
void	removeSelectedGoalsButtonClicked (void)
void	removeSelectedStatesButtonClicked (void)
void	removeTrajectoryButtonClicked (void)
void	robotInteractionButtonClicked ()
void	runBenchmark (void)
void	runBenchmarkOKButtonClicked (void)
void	saveGoalsOnDBButtonClicked (void)
void	saveStartStateButtonClicked (void)
void	saveStatesOnDBButtonClicked (void)
void	saveTrajectoriesOnDBButtonClicked (void)
void	startStateItemDoubleClicked (QListWidgetItem *item)
void	switchGoalVisibilityButtonClicked (void)
void	trajectoryExecuteButtonClicked (void)
void	trajectoryNWaypointsChanged (int)
void	trajectorySelectionChanged (void)
void	updateGoalMarkerStateFromName (const std::string &name, const GripperMarker::GripperMarkerState &state)
void	updateMarkerState (GripperMarkerPtr marker, const GripperMarker::GripperMarkerState &state)
void	visibleAxisChanged (int state)
Public Member Functions
	MainWindow (int argc, char *argv, QWidget parent=0)
	~MainWindow ()
Private Types
typedef std::map< std::string, GripperMarkerPtr >	GoalPoseMap
typedef std::pair< std::string, GripperMarkerPtr >	GoalPosePair
typedef std::pair < visualization_msgs::InteractiveMarker, boost::shared_ptr < rviz::InteractiveMarker > >	MsgMarkerPair
typedef std::map< std::string, StartStatePtr >	StartStateMap
typedef std::pair< std::string, StartStatePtr >	StartStatePair
typedef boost::shared_ptr < StartState >	StartStatePtr
enum	StatusType { STATUS_WARN, STATUS_ERROR, STATUS_INFO }
typedef std::map< std::string, TrajectoryPtr >	TrajectoryMap
typedef std::pair< std::string, TrajectoryPtr >	TrajectoryPair
Private Member Functions
void	animateTrajectory (const std::vector< boost::shared_ptr< robot_state::RobotState > > &traj)
void	checkIfGoalInCollision (const std::string &goal_name)
void	checkIfGoalReachable (const std::string &goal_name, bool update_if_reachable=false)
void	computeGoalPoseDoubleClicked (QListWidgetItem *item)
void	computeLoadBenchmarkResults (const std::string &file)
bool	configure ()
void	createTrajectoryStartMarker (const GripperMarker &marker)
bool	isIKSolutionCollisionFree (robot_state::JointStateGroup *group, const std::vector< double > &ik_solution)
void	loadNewRobot (const std::string &urdf_path, const std::string &srdf_path)
void	loadSceneButtonClickedBackgroundJob (void)
void	populateGoalPosesList ()
void	populatePlanningSceneList (void)
void	populateStartStatesList ()
void	populateTrajectoriesList ()
void	scheduleStateUpdate ()
void	scheduleStateUpdateBackgroundJob ()
void	selectItemJob (QListWidgetItem *item, bool flag)
void	setItemSelectionInList (const std::string &item_name, bool selection, QListWidget *list)
void	setStatus (StatusType st, const QString &text)
void	setStatusFromBackground (StatusType st, const QString &text)
void	switchGoalPoseMarkerSelection (const std::string &marker_name)
void	switchTrajectorySelection (const std::string &marker_name)
void	updateGoalPoseMarkers (float wall_dt, float ros_dt)
bool	waitForPlanningSceneMonitor (moveit_rviz_plugin::PlanningSceneDisplay *scene_display)
Private Attributes
boost::shared_ptr < moveit_warehouse::ConstraintsStorage >	constraints_storage_
Eigen::Affine3d	goal_offset_
bool	goal_pose_dragging_
GoalPoseMap	goal_poses_
EigenSTL::map_string_Affine3d	goals_dragging_initial_pose_
EigenSTL::map_string_Affine3d	goals_initial_pose_
rviz::Display *	int_marker_display_
Ui_RobotLoader	load_robot_ui_
boost::shared_ptr< QTimer >	main_loop_jobs_timer_
boost::shared_ptr < moveit_warehouse::PlanningSceneStorage >	planning_scene_storage_
robot_interaction::RobotInteraction::InteractionHandlerPtr	query_goal_state_
rviz::RenderPanel *	render_panel_
robot_interaction::RobotInteractionPtr	robot_interaction_
QDialog *	robot_loader_dialog_
boost::shared_ptr < moveit_warehouse::RobotStateStorage >	robot_state_storage_
Ui_BenchmarkDialog	run_benchmark_ui_
moveit_rviz_plugin::PlanningSceneDisplay *	scene_display_
boost::shared_ptr< QSettings >	settings_
StartStateMap	start_states_
TrajectoryMap	trajectories_
boost::shared_ptr < moveit_warehouse::TrajectoryConstraintsStorage >	trajectory_constraints_storage_
Ui::MainWindow	ui_
rviz::VisualizationManager *	visualization_manager_
Static Private Attributes
static const unsigned int	DEFAULT_WAREHOUSE_PORT = 33830
static const unsigned int	MAIN_LOOP_RATE = 20
static const char *	ROBOT_DESCRIPTION_PARAM = "robot_description"
static const char *	ROBOT_DESCRIPTION_SEMANTIC_PARAM = "robot_description_semantic"

Detailed Description

Definition at line 68 of file main_window.h.

Member Typedef Documentation

typedef std::map<std::string, GripperMarkerPtr> benchmark_tool::MainWindow::GoalPoseMap [private]

Definition at line 178 of file main_window.h.

typedef std::pair<std::string, GripperMarkerPtr> benchmark_tool::MainWindow::GoalPosePair [private]

Definition at line 179 of file main_window.h.

typedef std::pair<visualization_msgs::InteractiveMarker, boost::shared_ptr<rviz::InteractiveMarker> > benchmark_tool::MainWindow::MsgMarkerPair [private]

Definition at line 203 of file main_window.h.

typedef std::map<std::string, StartStatePtr> benchmark_tool::MainWindow::StartStateMap [private]

Definition at line 194 of file main_window.h.

typedef std::pair<std::string, StartStatePtr> benchmark_tool::MainWindow::StartStatePair [private]

Definition at line 195 of file main_window.h.

typedef boost::shared_ptr<StartState> benchmark_tool::MainWindow::StartStatePtr [private]

Definition at line 192 of file main_window.h.

typedef std::map<std::string, TrajectoryPtr> benchmark_tool::MainWindow::TrajectoryMap [private]

Definition at line 215 of file main_window.h.

typedef std::pair<std::string, TrajectoryPtr> benchmark_tool::MainWindow::TrajectoryPair [private]

Definition at line 216 of file main_window.h.

Member Enumeration Documentation

enum benchmark_tool::MainWindow::StatusType [private]

Enumerator:

STATUS_WARN
STATUS_ERROR
STATUS_INFO

Definition at line 229 of file main_window.h.

Constructor & Destructor Documentation

benchmark_tool::MainWindow::MainWindow	(	int	argc,
		char **	argv,
		QWidget *	parent = `0`
	)

Definition at line 52 of file main_window.cpp.

benchmark_tool::MainWindow::~MainWindow ( )

Definition at line 199 of file main_window.cpp.

Member Function Documentation

void benchmark_tool::MainWindow::animateTrajectory ( const std::vector< boost::shared_ptr< robot_state::RobotState > > & traj ) [private]

Definition at line 345 of file tab_trajectories.cpp.

void benchmark_tool::MainWindow::benchmarkFolderButtonClicked ( void ) [slot]

Definition at line 870 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::checkGoalsInCollision ( void ) [slot]

Definition at line 610 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::checkGoalsReachable ( void ) [slot]

Definition at line 604 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::checkIfGoalInCollision ( const std::string & goal_name ) [private]

Definition at line 666 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::checkIfGoalReachable	(	const std::string &	goal_name,
		bool	update_if_reachable = `false`
	)		`[private]`

Definition at line 616 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::computeGoalPoseDoubleClicked ( QListWidgetItem * item ) [private]

Definition at line 507 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::computeLoadBenchmarkResults ( const std::string & file ) [private]

Definition at line 931 of file tab_states_and_goals.cpp.

bool benchmark_tool::MainWindow::configure ( ) [private]

Definition at line 355 of file main_window.cpp.

void benchmark_tool::MainWindow::copySelectedGoalPoses ( void ) [slot]

Definition at line 719 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::createGoalPoseButtonClicked ( void ) [slot]

Definition at line 55 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::createTrajectoryButtonClicked ( void ) [slot]

Definition at line 47 of file tab_trajectories.cpp.

void benchmark_tool::MainWindow::createTrajectoryStartMarker ( const GripperMarker & marker ) [private]

void benchmark_tool::MainWindow::dbConnectButtonClicked ( ) [slot]

Definition at line 523 of file main_window.cpp.

void benchmark_tool::MainWindow::dbConnectButtonClickedBackgroundJob ( ) [slot]

Definition at line 528 of file main_window.cpp.

void benchmark_tool::MainWindow::deleteGoalsOnDBButtonClicked ( void ) [slot]

Definition at line 291 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::deleteStatesOnDBButtonClicked ( void ) [slot]

Definition at line 400 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::exitActionTriggered ( bool ) [slot]

Definition at line 217 of file main_window.cpp.

void benchmark_tool::MainWindow::goalOffsetChanged ( ) [slot]

Definition at line 1107 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::goalPoseDoubleClicked ( QListWidgetItem * item ) [slot]

Definition at line 502 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::goalPoseFeedback ( visualization_msgs::InteractiveMarkerFeedback & feedback ) [slot]

Definition at line 521 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::goalPoseSelectionChanged ( void ) [slot]

Definition at line 489 of file tab_states_and_goals.cpp.

bool benchmark_tool::MainWindow::isIKSolutionCollisionFree	(	robot_state::JointStateGroup *	group,
		const std::vector< double > &	ik_solution
	)		`[private]`

Definition at line 501 of file main_window.cpp.

void benchmark_tool::MainWindow::loadBenchmarkResults ( void ) [slot]

Definition at line 921 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::loadGoalsFromDBButtonClicked ( void ) [slot]

Definition at line 171 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::loadNewRobot	(	const std::string &	urdf_path,
		const std::string &	srdf_path
	)		`[private]`

Definition at line 237 of file main_window.cpp.

void benchmark_tool::MainWindow::loadSceneButtonClicked ( void ) [slot]

Definition at line 632 of file main_window.cpp.

void benchmark_tool::MainWindow::loadSceneButtonClicked ( QListWidgetItem * item ) [slot]

Definition at line 627 of file main_window.cpp.

void benchmark_tool::MainWindow::loadSceneButtonClickedBackgroundJob ( void ) [private]

Definition at line 644 of file main_window.cpp.

void benchmark_tool::MainWindow::loadStatesFromDBButtonClicked ( void ) [slot]

Definition at line 328 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::loadTrajectoriesFromDBButtonClicked ( void ) [slot]

Definition at line 167 of file tab_trajectories.cpp.

void benchmark_tool::MainWindow::MainLoop ( ) [slot]

Definition at line 719 of file main_window.cpp.

void benchmark_tool::MainWindow::openActionTriggered ( bool ) [slot]

Definition at line 222 of file main_window.cpp.

void benchmark_tool::MainWindow::planningGroupChanged ( const QString & text ) [slot]

Definition at line 455 of file main_window.cpp.

void benchmark_tool::MainWindow::populateGoalPosesList ( void ) [private]

Definition at line 449 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::populatePlanningSceneList ( void ) [private]

Definition at line 609 of file main_window.cpp.

void benchmark_tool::MainWindow::populateStartStatesList ( void ) [private]

Definition at line 832 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::populateTrajectoriesList ( void ) [private]

Definition at line 101 of file tab_trajectories.cpp.

void benchmark_tool::MainWindow::removeAllGoalsButtonClicked ( void ) [slot]

Definition at line 164 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::removeAllStatesButtonClicked ( void ) [slot]

Definition at line 826 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::removeSelectedGoalsButtonClicked ( void ) [slot]

Definition at line 154 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::removeSelectedStatesButtonClicked ( void ) [slot]

Definition at line 816 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::removeTrajectoryButtonClicked ( void ) [slot]

Definition at line 130 of file tab_trajectories.cpp.

void benchmark_tool::MainWindow::robotInteractionButtonClicked ( ) [slot]

Definition at line 480 of file main_window.cpp.

void benchmark_tool::MainWindow::runBenchmark ( void ) [slot]

Definition at line 853 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::runBenchmarkOKButtonClicked ( void ) [slot]

Definition at line 877 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::saveGoalsOnDBButtonClicked ( void ) [slot]

Definition at line 242 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::saveStartStateButtonClicked ( void ) [slot]

Definition at line 769 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::saveStatesOnDBButtonClicked ( void ) [slot]

Definition at line 379 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::saveTrajectoriesOnDBButtonClicked ( void ) [slot]

Definition at line 255 of file tab_trajectories.cpp.

void benchmark_tool::MainWindow::scheduleStateUpdate ( ) [private]

Definition at line 512 of file main_window.cpp.

void benchmark_tool::MainWindow::scheduleStateUpdateBackgroundJob ( ) [private]

Definition at line 517 of file main_window.cpp.

void benchmark_tool::MainWindow::selectItemJob	(	QListWidgetItem *	item,
		bool	flag
	)		`[private]`

Definition at line 727 of file main_window.cpp.

void benchmark_tool::MainWindow::setItemSelectionInList	(	const std::string &	item_name,
		bool	selection,
		QListWidget *	list
	)		`[private]`

Definition at line 732 of file main_window.cpp.

void benchmark_tool::MainWindow::setStatus	(	StatusType	st,
		const QString &	text
	)		`[inline, private]`

Definition at line 230 of file main_window.h.

void benchmark_tool::MainWindow::setStatusFromBackground	(	StatusType	st,
		const QString &	text
	)		`[inline, private]`

Definition at line 248 of file main_window.h.

void benchmark_tool::MainWindow::startStateItemDoubleClicked ( QListWidgetItem * item ) [slot]

Definition at line 847 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::switchGoalPoseMarkerSelection ( const std::string & marker_name ) [private]

Definition at line 697 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::switchGoalVisibilityButtonClicked ( void ) [slot]

Definition at line 468 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::switchTrajectorySelection ( const std::string & marker_name ) [private]

void benchmark_tool::MainWindow::trajectoryExecuteButtonClicked ( void ) [slot]

Definition at line 319 of file tab_trajectories.cpp.

void benchmark_tool::MainWindow::trajectoryNWaypointsChanged ( int n ) [slot]

Definition at line 310 of file tab_trajectories.cpp.

void benchmark_tool::MainWindow::trajectorySelectionChanged ( void ) [slot]

Definition at line 113 of file tab_trajectories.cpp.

void benchmark_tool::MainWindow::updateGoalMarkerStateFromName	(	const std::string &	name,
		const GripperMarker::GripperMarkerState &	state
	)		`[slot]`

Definition at line 1096 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::updateGoalPoseMarkers	(	float	wall_dt,
		float	ros_dt
	)		`[private]`

Definition at line 700 of file main_window.cpp.

void benchmark_tool::MainWindow::updateMarkerState	(	GripperMarkerPtr	marker,
		const GripperMarker::GripperMarkerState &	state
	)		`[slot]`

Definition at line 1102 of file tab_states_and_goals.cpp.

void benchmark_tool::MainWindow::visibleAxisChanged ( int state ) [slot]

Definition at line 435 of file tab_states_and_goals.cpp.

bool benchmark_tool::MainWindow::waitForPlanningSceneMonitor ( moveit_rviz_plugin::PlanningSceneDisplay * scene_display ) [private]

Definition at line 203 of file main_window.cpp.

Member Data Documentation

boost::shared_ptr<moveit_warehouse::ConstraintsStorage> benchmark_tool::MainWindow::constraints_storage_ [private]

Definition at line 164 of file main_window.h.

const unsigned int benchmark_tool::MainWindow::DEFAULT_WAREHOUSE_PORT = 33830 [static, private]

Definition at line 136 of file main_window.h.

Eigen::Affine3d benchmark_tool::MainWindow::goal_offset_ [private]

Definition at line 173 of file main_window.h.

bool benchmark_tool::MainWindow::goal_pose_dragging_ [private]

Definition at line 176 of file main_window.h.

GoalPoseMap benchmark_tool::MainWindow::goal_poses_ [private]

Definition at line 180 of file main_window.h.

EigenSTL::map_string_Affine3d benchmark_tool::MainWindow::goals_dragging_initial_pose_ [private]

Definition at line 175 of file main_window.h.

EigenSTL::map_string_Affine3d benchmark_tool::MainWindow::goals_initial_pose_ [private]

Definition at line 174 of file main_window.h.

rviz::Display* benchmark_tool::MainWindow::int_marker_display_ [private]

Definition at line 160 of file main_window.h.

Ui_RobotLoader benchmark_tool::MainWindow::load_robot_ui_ [private]

Definition at line 140 of file main_window.h.

boost::shared_ptr<QTimer> benchmark_tool::MainWindow::main_loop_jobs_timer_ [private]

Definition at line 226 of file main_window.h.

const unsigned int benchmark_tool::MainWindow::MAIN_LOOP_RATE = 20 [static, private]

Definition at line 225 of file main_window.h.

boost::shared_ptr<moveit_warehouse::PlanningSceneStorage> benchmark_tool::MainWindow::planning_scene_storage_ [private]

Definition at line 163 of file main_window.h.

robot_interaction::RobotInteraction::InteractionHandlerPtr benchmark_tool::MainWindow::query_goal_state_ [private]

Definition at line 171 of file main_window.h.

rviz::RenderPanel* benchmark_tool::MainWindow::render_panel_ [private]

Definition at line 145 of file main_window.h.

const char * benchmark_tool::MainWindow::ROBOT_DESCRIPTION_PARAM = "robot_description" [static, private]

Definition at line 134 of file main_window.h.

const char * benchmark_tool::MainWindow::ROBOT_DESCRIPTION_SEMANTIC_PARAM = "robot_description_semantic" [static, private]

Definition at line 135 of file main_window.h.

robot_interaction::RobotInteractionPtr benchmark_tool::MainWindow::robot_interaction_ [private]

Definition at line 159 of file main_window.h.

QDialog* benchmark_tool::MainWindow::robot_loader_dialog_ [private]

Definition at line 141 of file main_window.h.

boost::shared_ptr<moveit_warehouse::RobotStateStorage> benchmark_tool::MainWindow::robot_state_storage_ [private]

Definition at line 166 of file main_window.h.

Ui_BenchmarkDialog benchmark_tool::MainWindow::run_benchmark_ui_ [private]

Definition at line 139 of file main_window.h.

moveit_rviz_plugin::PlanningSceneDisplay* benchmark_tool::MainWindow::scene_display_ [private]

Definition at line 147 of file main_window.h.

boost::shared_ptr<QSettings> benchmark_tool::MainWindow::settings_ [private]

Definition at line 142 of file main_window.h.

StartStateMap benchmark_tool::MainWindow::start_states_ [private]

Definition at line 196 of file main_window.h.

TrajectoryMap benchmark_tool::MainWindow::trajectories_ [private]

Definition at line 217 of file main_window.h.

boost::shared_ptr<moveit_warehouse::TrajectoryConstraintsStorage> benchmark_tool::MainWindow::trajectory_constraints_storage_ [private]

Definition at line 165 of file main_window.h.

Ui::MainWindow benchmark_tool::MainWindow::ui_ [private]

Definition at line 138 of file main_window.h.

rviz::VisualizationManager* benchmark_tool::MainWindow::visualization_manager_ [private]

Definition at line 146 of file main_window.h.

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

Classes

Public Slots

Public Member Functions

Private Types

Private Member Functions