#include <trajectory_execution_manager.h>

Classes
struct	ControllerInformation
class	DynamicReconfigureImpl
struct	TrajectoryExecutionContext
	Data structure that represents information necessary to execute a trajectory. More...
Public Types
typedef boost::function< void(const moveit_controller_manager::ExecutionStatus &)>	ExecutionCompleteCallback
	Definition of the function signature that is called when the execution of all the pushed trajectories completes. The status of the overall execution is passed as argument.
typedef boost::function< void(std::size_t)>	PathSegmentCompleteCallback
	Definition of the function signature that is called when the execution of a pushed trajectory completes successfully.
Public Member Functions
bool	areControllersActive (const std::vector< std::string > &controllers)
	Check if a set of controllers are active.
void	clear ()
	Clear the trajectories to execute.
void	enableExecutionDurationMonitoring (bool flag)
bool	ensureActiveController (const std::string &controller)
	Make sure a particular controller is active.
bool	ensureActiveControllers (const std::vector< std::string > &controllers)
	Make sure a particular set of controllers are active.
bool	ensureActiveControllersForGroup (const std::string &group)
	Make sure the active controllers are such that trajectories that actuate joints in the specified group can be executed.
bool	ensureActiveControllersForJoints (const std::vector< std::string > &joints)
	Make sure the active controllers are such that trajectories that actuate joints in the specified set can be executed.
void	execute (const ExecutionCompleteCallback &callback=ExecutionCompleteCallback(), bool auto_clear=true)
	Start the execution of pushed trajectories; this does not wait for completion, but calls a callback when done.
void	execute (const ExecutionCompleteCallback &callback, const PathSegmentCompleteCallback &part_callback, bool auto_clear=true)
	Start the execution of pushed trajectories; this does not wait for completion, but calls a callback when done. A callback is also called for every trajectory part that completes successfully.
moveit_controller_manager::ExecutionStatus	executeAndWait (bool auto_clear=true)
	This is a blocking call for the execution of the passed in trajectories. This just calls execute() and waitForExecution()
const moveit_controller_manager::MoveItControllerManagerPtr &	getControllerManager () const
	Get the instance of the controller manager used (this is the plugin instance loaded)
std::pair< int, int >	getCurrentExpectedTrajectoryIndex () const
moveit_controller_manager::ExecutionStatus	getLastExecutionStatus () const
	Return the controller status for the last attempted execution.
const std::vector < TrajectoryExecutionContext * > &	getTrajectories () const
	Get the trajectories to be executed.
bool	isControllerActive (const std::string &controller)
	Check if a controller is active.
bool	isManagingControllers () const
	If this function returns true, then this instance of the manager is allowed to load/unload/switch controllers.
void	processEvent (const std::string &event)
	Execute a named event (e.g., 'stop')
bool	push (const moveit_msgs::RobotTrajectory &trajectory, const std::string &controller="")
	Add a trajectory for future execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used.
bool	push (const trajectory_msgs::JointTrajectory &trajectory, const std::string &controller="")
	Add a trajectory for future execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used.
bool	push (const trajectory_msgs::JointTrajectory &trajectory, const std::vector< std::string > &controllers)
bool	push (const moveit_msgs::RobotTrajectory &trajectory, const std::vector< std::string > &controllers)
bool	pushAndExecute (const moveit_msgs::RobotTrajectory &trajectory, const std::string &controller="")
	Add a trajectory for immediate execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used. This call is non-blocking.
bool	pushAndExecute (const trajectory_msgs::JointTrajectory &trajectory, const std::string &controller="")
	Add a trajectory for immediate execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used. This call is non-blocking.
bool	pushAndExecute (const sensor_msgs::JointState &state, const std::string &controller="")
bool	pushAndExecute (const trajectory_msgs::JointTrajectory &trajectory, const std::vector< std::string > &controllers)
bool	pushAndExecute (const moveit_msgs::RobotTrajectory &trajectory, const std::vector< std::string > &controllers)
bool	pushAndExecute (const sensor_msgs::JointState &state, const std::vector< std::string > &controllers)
void	setAllowedExecutionDurationScaling (double scaling)
void	setExecutionVelocityScaling (double scaling)
void	stopExecution (bool auto_clear=true)
	Stop whatever executions are active, if any.
	TrajectoryExecutionManager (const robot_model::RobotModelConstPtr &kmodel)
	Load the controller manager plugin, start listening for events on a topic.
	TrajectoryExecutionManager (const robot_model::RobotModelConstPtr &kmodel, bool manage_controllers)
	Load the controller manager plugin, start listening for events on a topic.
moveit_controller_manager::ExecutionStatus	waitForExecution ()
	Wait until the execution is complete. This applies for executions started by either execute() or pushAndExecute()
	~TrajectoryExecutionManager ()
	Destructor. Cancels all running trajectories (if any)
Static Public Attributes
static const std::string	EXECUTION_EVENT_TOPIC = "trajectory_execution_event"
Private Member Functions
bool	checkControllerCombination (std::vector< std::string > &controllers, const std::set< std::string > &actuated_joints)
bool	configure (TrajectoryExecutionContext &context, const moveit_msgs::RobotTrajectory &trajectory, const std::vector< std::string > &controllers)
void	continuousExecutionThread ()
bool	distributeTrajectory (const moveit_msgs::RobotTrajectory &trajectory, const std::vector< std::string > &controllers, std::vector< moveit_msgs::RobotTrajectory > &parts)
bool	executePart (std::size_t part_index)
void	executeThread (const ExecutionCompleteCallback &callback, const PathSegmentCompleteCallback &part_callback, bool auto_clear)
bool	findControllers (const std::set< std::string > &actuated_joints, std::size_t controller_count, const std::vector< std::string > &available_controllers, std::vector< std::string > &selected_controllers)
void	generateControllerCombination (std::size_t start_index, std::size_t controller_count, const std::vector< std::string > &available_controllers, std::vector< std::string > &selected_controllers, std::vector< std::vector< std::string > > &selected_options, const std::set< std::string > &actuated_joints)
void	initialize ()
void	receiveEvent (const std_msgs::StringConstPtr &event)
void	reloadControllerInformation ()
bool	selectControllers (const std::set< std::string > &actuated_joints, const std::vector< std::string > &available_controllers, std::vector< std::string > &selected_controllers)
void	stopExecutionInternal ()
void	updateControllersState (const ros::Duration &age)
void	updateControllerState (const std::string &controller, const ros::Duration &age)
void	updateControllerState (ControllerInformation &ci, const ros::Duration &age)
Private Attributes
std::vector < moveit_controller_manager::MoveItControllerHandlePtr >	active_handles_
double	allowed_execution_duration_scaling_
boost::condition_variable	continuous_execution_condition_
boost::mutex	continuous_execution_mutex_
std::deque < TrajectoryExecutionContext * >	continuous_execution_queue_
boost::scoped_ptr< boost::thread >	continuous_execution_thread_
moveit_controller_manager::MoveItControllerManagerPtr	controller_manager_
boost::scoped_ptr < pluginlib::ClassLoader < moveit_controller_manager::MoveItControllerManager > >	controller_manager_loader_
int	current_context_
ros::Subscriber	event_topic_subscriber_
bool	execution_complete_
boost::condition_variable	execution_complete_condition_
bool	execution_duration_monitoring_
boost::mutex	execution_state_mutex_
boost::scoped_ptr< boost::thread >	execution_thread_
double	execution_velocity_scaling_
robot_model::RobotModelConstPtr	kinematic_model_
std::map< std::string, ControllerInformation >	known_controllers_
moveit_controller_manager::ExecutionStatus	last_execution_status_
bool	manage_controllers_
ros::NodeHandle	node_handle_
DynamicReconfigureImpl *	reconfigure_impl_
ros::NodeHandle	root_node_handle_
bool	run_continuous_execution_thread_
bool	stop_continuous_execution_
std::vector< ros::Time >	time_index_
boost::mutex	time_index_mutex_
std::vector < TrajectoryExecutionContext * >	trajectories_
bool	verbose_

Detailed Description

Definition at line 56 of file trajectory_execution_manager.h.

Member Typedef Documentation

typedef boost::function<void(const moveit_controller_manager::ExecutionStatus&)> trajectory_execution_manager::TrajectoryExecutionManager::ExecutionCompleteCallback

Definition of the function signature that is called when the execution of all the pushed trajectories completes. The status of the overall execution is passed as argument.

Definition at line 63 of file trajectory_execution_manager.h.

typedef boost::function<void(std::size_t)> trajectory_execution_manager::TrajectoryExecutionManager::PathSegmentCompleteCallback

Definition of the function signature that is called when the execution of a pushed trajectory completes successfully.

Definition at line 66 of file trajectory_execution_manager.h.

Constructor & Destructor Documentation

trajectory_execution_manager::TrajectoryExecutionManager::TrajectoryExecutionManager ( const robot_model::RobotModelConstPtr & kmodel )

Load the controller manager plugin, start listening for events on a topic.

Definition at line 74 of file trajectory_execution_manager.cpp.

trajectory_execution_manager::TrajectoryExecutionManager::TrajectoryExecutionManager	(	const robot_model::RobotModelConstPtr &	kmodel,
		bool	manage_controllers
	)

Load the controller manager plugin, start listening for events on a topic.

Definition at line 82 of file trajectory_execution_manager.cpp.

trajectory_execution_manager::TrajectoryExecutionManager::~TrajectoryExecutionManager ( )

Destructor. Cancels all running trajectories (if any)

Definition at line 88 of file trajectory_execution_manager.cpp.

Member Function Documentation

bool trajectory_execution_manager::TrajectoryExecutionManager::areControllersActive ( const std::vector< std::string > & controllers )

Check if a set of controllers are active.

Definition at line 699 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::checkControllerCombination	(	std::vector< std::string > &	controllers,
		const std::set< std::string > &	actuated_joints
	)		`[private]`

Definition at line 527 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::clear ( void )

Clear the trajectories to execute.

Definition at line 993 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::configure	(	TrajectoryExecutionContext &	context,
		const moveit_msgs::RobotTrajectory &	trajectory,
		const std::vector< std::string > &	controllers
	)		`[private]`

Definition at line 826 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::continuousExecutionThread ( ) [private]

Definition at line 326 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::distributeTrajectory	(	const moveit_msgs::RobotTrajectory &	trajectory,
		const std::vector< std::string > &	controllers,
		std::vector< moveit_msgs::RobotTrajectory > &	parts
	)		`[private]`

Definition at line 735 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::enableExecutionDurationMonitoring ( bool flag )

Enable or disable the monitoring of trajectory execution duration. If a controller takes longer than expected, the trajectory is canceled

Definition at line 158 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::ensureActiveController ( const std::string & controller )

Make sure a particular controller is active.

Note:: If manage_controllers_ is false and the controllers that happen to be active to not include the one specified as argument, this function fails.

Definition at line 1288 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::ensureActiveControllers ( const std::vector< std::string > & controllers )

Make sure a particular set of controllers are active.

Note:: If manage_controllers_ is false and the controllers that happen to be active to not include the ones specified as argument, this function fails.

Definition at line 1293 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::ensureActiveControllersForGroup ( const std::string & group )

Make sure the active controllers are such that trajectories that actuate joints in the specified group can be executed.

Note:: If manage_controllers_ is false and the controllers that happen to be active do not cover the joints in the group to be actuated, this function fails.

Definition at line 1265 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::ensureActiveControllersForJoints ( const std::vector< std::string > & joints )

Make sure the active controllers are such that trajectories that actuate joints in the specified set can be executed.

Note:: If manage_controllers_ is false and the controllers that happen to be active do not cover the joints to be actuated, this function fails.

Definition at line 1274 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::execute	(	const ExecutionCompleteCallback &	callback = `ExecutionCompleteCallback()`,
		bool	auto_clear = `true`
	)

Start the execution of pushed trajectories; this does not wait for completion, but calls a callback when done.

Definition at line 961 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::execute	(	const ExecutionCompleteCallback &	callback,
		const PathSegmentCompleteCallback &	part_callback,
		bool	auto_clear = `true`
	)

Start the execution of pushed trajectories; this does not wait for completion, but calls a callback when done. A callback is also called for every trajectory part that completes successfully.

Definition at line 966 of file trajectory_execution_manager.cpp.

moveit_controller_manager::ExecutionStatus trajectory_execution_manager::TrajectoryExecutionManager::executeAndWait ( bool auto_clear = true )

This is a blocking call for the execution of the passed in trajectories. This just calls execute() and waitForExecution()

Definition at line 903 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::executePart ( std::size_t part_index ) [private]

Definition at line 1056 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::executeThread	(	const ExecutionCompleteCallback &	callback,
		const PathSegmentCompleteCallback &	part_callback,
		bool	auto_clear
	)		`[private]`

Definition at line 1013 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::findControllers	(	const std::set< std::string > &	actuated_joints,
		std::size_t	controller_count,
		const std::vector< std::string > &	available_controllers,
		std::vector< std::string > &	selected_controllers
	)		`[private]`

Definition at line 616 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::generateControllerCombination	(	std::size_t	start_index,
		std::size_t	controller_count,
		const std::vector< std::string > &	available_controllers,
		std::vector< std::string > &	selected_controllers,
		std::vector< std::vector< std::string > > &	selected_options,
		const std::set< std::string > &	actuated_joints
	)		`[private]`

Definition at line 552 of file trajectory_execution_manager.cpp.

const moveit_controller_manager::MoveItControllerManagerPtr & trajectory_execution_manager::TrajectoryExecutionManager::getControllerManager ( ) const

Get the instance of the controller manager used (this is the plugin instance loaded)

Definition at line 178 of file trajectory_execution_manager.cpp.

std::pair< int, int > trajectory_execution_manager::TrajectoryExecutionManager::getCurrentExpectedTrajectoryIndex ( ) const

Get the state that the robot is expected to be at, given current time, after execute() has been called. The return value is a pair of two index values: first = the index of the trajectory to be executed (in the order push() was called), second = the index of the point within that trajectory. Values of -1 are returned when there is no trajectory being executed, or if the trajectory was passed using pushAndExecute().

Definition at line 1243 of file trajectory_execution_manager.cpp.

moveit_controller_manager::ExecutionStatus trajectory_execution_manager::TrajectoryExecutionManager::getLastExecutionStatus ( ) const

Return the controller status for the last attempted execution.

Definition at line 1260 of file trajectory_execution_manager.cpp.

const std::vector< TrajectoryExecutionManager::TrajectoryExecutionContext * > & trajectory_execution_manager::TrajectoryExecutionManager::getTrajectories ( ) const

Get the trajectories to be executed.

Definition at line 1255 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::initialize ( ) [private]

Definition at line 95 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::isControllerActive ( const std::string & controller )

Check if a controller is active.

Definition at line 694 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::isManagingControllers ( ) const

If this function returns true, then this instance of the manager is allowed to load/unload/switch controllers.

Definition at line 173 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::processEvent ( const std::string & event )

Execute a named event (e.g., 'stop')

Definition at line 183 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::push	(	const moveit_msgs::RobotTrajectory &	trajectory,
		const std::string &	controller = `""`
	)

Add a trajectory for future execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used.

Definition at line 197 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::push	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const std::string &	controller = `""`
	)

Add a trajectory for future execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used.

Definition at line 205 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::push	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const std::vector< std::string > &	controllers
	)

Add a trajectory for future execution. Optionally specify a set of controllers to consider using for the trajectory. Multiple controllers can be used simultaneously to execute the different parts of the trajectory. If multiple controllers can be used, preference is given to the already loaded ones. If no controller is specified, a default is used.

Definition at line 213 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::push	(	const moveit_msgs::RobotTrajectory &	trajectory,
		const std::vector< std::string > &	controllers
	)

Add a trajectory for future execution. Optionally specify a set of controllers to consider using for the trajectory. Multiple controllers can be used simultaneously to execute the different parts of the trajectory. If multiple controllers can be used, preference is given to the already loaded ones. If no controller is specified, a default is used.

Definition at line 220 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const moveit_msgs::RobotTrajectory &	trajectory,
		const std::string &	controller = `""`
	)

Add a trajectory for immediate execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 254 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const std::string &	controller = `""`
	)

Add a trajectory for immediate execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 262 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const sensor_msgs::JointState &	state,
		const std::string &	controller = `""`
	)

Add a trajectory that consists of a single state for immediate execution. Optionally specify a controller to use for the trajectory. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 270 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const std::vector< std::string > &	controllers
	)

Add a trajectory for immediate execution. Optionally specify a set of controllers to consider using for the trajectory. Multiple controllers can be used simultaneously to execute the different parts of the trajectory. If multiple controllers can be used, preference is given to the already loaded ones. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 278 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const moveit_msgs::RobotTrajectory &	trajectory,
		const std::vector< std::string > &	controllers
	)

Add a trajectory for immediate execution. Optionally specify a set of controllers to consider using for the trajectory. Multiple controllers can be used simultaneously to execute the different parts of the trajectory. If multiple controllers can be used, preference is given to the already loaded ones. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 297 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::pushAndExecute	(	const sensor_msgs::JointState &	state,
		const std::vector< std::string > &	controllers
	)

Add a trajectory that consists of a single state for immediate execution. Optionally specify a set of controllers to consider using for the trajectory. Multiple controllers can be used simultaneously to execute the different parts of the trajectory. If multiple controllers can be used, preference is given to the already loaded ones. If no controller is specified, a default is used. This call is non-blocking.

Definition at line 285 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::receiveEvent ( const std_msgs::StringConstPtr & event ) [private]

Definition at line 191 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::reloadControllerInformation ( ) [private]

Definition at line 461 of file trajectory_execution_manager.cpp.

bool trajectory_execution_manager::TrajectoryExecutionManager::selectControllers	(	const std::set< std::string > &	actuated_joints,
		const std::vector< std::string > &	available_controllers,
		std::vector< std::string > &	selected_controllers
	)		`[private]`

Definition at line 711 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::setAllowedExecutionDurationScaling ( double scaling )

When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution

Definition at line 163 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::setExecutionVelocityScaling ( double scaling )

Before sending a trajectory to a controller, scale the velocities by the factor specified. By default, this is 1.0

Definition at line 168 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::stopExecution ( bool auto_clear = true )

Stop whatever executions are active, if any.

Definition at line 923 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::stopExecutionInternal ( ) [private]

Definition at line 909 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::updateControllersState ( const ros::Duration & age ) [private]

Definition at line 521 of file trajectory_execution_manager.cpp.

void trajectory_execution_manager::TrajectoryExecutionManager::updateControllerState	(	const std::string &	controller,
		const ros::Duration &	age
	)		`[private]`