#include <RobotNavigator.h>

Public Types
typedef boost::shared_ptr < RobotNavigator >	Ptr
Public Member Functions
	RobotNavigator ()
virtual void	run ()
virtual	~RobotNavigator ()
Static Public Attributes
static std::string	MARKER_ARM_LINK = "arm_links"
static std::string	MARKER_ATTACHED_OBJECT = "attached_object"
static std::string	NAVIGATOR_NAMESPACE = "navigator"
static std::string	NODE_NAME = "robot_pick_place"
static const tf::Transform	PLACE_RECTIFICATION_TF
static std::string	VISUALIZATION_TOPIC = "visualization_markers"
Protected Member Functions
void	addDetectedObjectToLocalPlanningScene (arm_navigation_msgs::CollisionObject &obj)
void	addDetectedObjectToLocalPlanningScene (const household_objects_database_msgs::DatabaseModelPoseList &model)
void	addDetectedTableToLocalPlanningScene (const tabletop_object_detector::Table &table)
void	addMarker (std::string name, visualization_msgs::Marker &marker)
void	addMarker (std::string name, visualization_msgs::MarkerArray &marker)
bool	attachCollisionObject (const std::string &group_name, const std::string &collision_object_name, const object_manipulation_msgs::Grasp &grasp)
void	attachCollisionObjectCallback (const std::string &group_name)
virtual bool	attemptGraspSequence (const std::string &group_name, const object_manipulator::GraspExecutionInfo &gei, bool performRecoveryMove=true)
virtual bool	attemptPlaceSequence (const std::string &group_name, const object_manipulator::PlaceExecutionInfo &pei)
virtual void	callbackPublishMarkers (const ros::TimerEvent &evnt)
void	collisionObjToMarker (const arm_navigation_msgs::CollisionObject &obj, visualization_msgs::Marker &marker)
virtual bool	createCandidateGoalPoses (std::vector< geometry_msgs::PoseStamped > &placePoses)=0
virtual bool	createPickMoveSequence (const object_manipulation_msgs::PickupGoal &pickupGoal, const std::vector< object_manipulation_msgs::Grasp > &grasps_candidates, std::vector< object_manipulator::GraspExecutionInfo > &grasp_sequence, std::vector< object_manipulation_msgs::Grasp > &valid_grasps)
virtual bool	createPlaceMoveSequence (const object_manipulation_msgs::PlaceGoal &placeGoal, const std::vector< geometry_msgs::PoseStamped > &place_poses, std::vector< object_manipulator::PlaceExecutionInfo > &place_sequence)
bool	detachCollisionObject (const std::string &group_name, const geometry_msgs::PoseStamped &place_pose, const object_manipulation_msgs::Grasp &grasp)
void	detachCollisionObjectCallback (const std::string &group_name)
virtual void	fetchParameters (std::string nameSpace="")
const arm_navigation_msgs::CollisionObject *	getCollisionObject (unsigned int model_id)
virtual trajectory_msgs::JointTrajectory	getGripperTrajectory (int graspMove=object_manipulation_msgs::GraspHandPostureExecutionGoal::GRASP)
virtual std::vector< std::string >	getJointNames (const std::string &group)
visualization_msgs::Marker &	getMarker (std::string name)
bool	getMeshFromDatabasePose (const household_objects_database_msgs::DatabaseModelPose &model_pose, arm_navigation_msgs::CollisionObject &obj, const geometry_msgs::PoseStamped &pose)
bool	hasMarker (std::string)
virtual bool	moveArm (const std::string &group_name, const std::vector< double > &joint_positions)
virtual bool	moveArmThroughPickSequence ()
virtual bool	moveArmThroughPlaceSequence ()
virtual bool	moveArmToSide ()
virtual bool	performGraspPlanning ()
virtual bool	performPickGraspPlanning ()
virtual bool	performPlaceGraspPlanning ()
virtual bool	performRecognition ()
virtual bool	performSegmentation ()
virtual bool	performTrajectoryFiltering (const std::string &group_name, trajectory_msgs::JointTrajectory &jt)
void	printJointTrajectory (const trajectory_msgs::JointTrajectory &jt)
void	printTiming ()
void	revertPlanningScene ()
virtual void	setup ()
void	startCycleTimer ()
virtual bool	trajectoryFinishedCallback (bool storeLastTraj, TrajectoryExecutionDataVector tedv)
bool	updateChangesToPlanningScene ()
void	updateCurrentJointStateToLastTrajectoryPoint (const trajectory_msgs::JointTrajectory &traj)
bool	validateJointTrajectory (trajectory_msgs::JointTrajectory &jt)
Static Protected Member Functions
static std::string	makeCollisionObjectNameFromModelId (unsigned int model_id)
Protected Attributes
tf::TransformListener	_TfListener
boost::shared_ptr < TrajectoryControllerHandler >	arm_controller_handler_
std::string	arm_group_name_
ros::Publisher	attached_object_publisher_
planning_environment::CollisionModels	cm_
std::map< std::string, object_manipulation_msgs::Grasp >	current_grasp_map_
std::map< std::string, std::string >	current_grasped_object_name_
geometry_msgs::PoseStamped	current_place_location_
arm_navigation_msgs::PlanningScene	current_planning_scene_
unsigned int	current_planning_scene_id_
planning_models::KinematicState *	current_robot_state_
ros::WallTime	cycle_start_time_
boost::condition_variable	execution_completed_
ros::WallDuration	execution_duration_
boost::mutex	execution_mutex_
boost::function< bool(TrajectoryExecutionDataVector)>	grasp_action_finished_function_
std::string	grasp_action_service_
std::vector < object_manipulation_msgs::Grasp >	grasp_candidates_
boost::shared_ptr < GraspActionServerClient >	grasp_exec_action_client_
std::vector < object_manipulator::GraspExecutionInfo >	grasp_pick_sequence_
object_manipulation_msgs::PickupGoal	grasp_pickup_goal_
object_manipulation_msgs::PlaceGoal	grasp_place_goal_
std::vector < object_manipulator::PlaceExecutionInfo >	grasp_place_sequence_
ros::ServiceClient	grasp_planning_client
ros::WallDuration	grasp_planning_duration_
std::string	grasp_planning_service_
boost::shared_ptr < GraspSequenceValidator >	grasp_tester_
boost::shared_ptr < TrajectoryControllerHandler >	gripper_controller_handler_
std::string	gripper_group_name_
std::string	gripper_link_name_
std::string	ik_plugin_name_
boost::shared_ptr < TrajectoryRecorder >	joint_state_recorder_
std::string	joint_states_topic_
unsigned int	last_mpr_id_
TrajectoryExecutionDataVector	last_trajectory_execution_data_vector_
ros::Publisher	marker_array_publisher_
std::map< std::string, visualization_msgs::Marker >	marker_map_
ros::Timer	marker_pub_timer_
ros::Publisher	marker_publisher_
unsigned int	max_mpr_id_
unsigned int	max_trajectory_id_
std::string	mesh_database_service_
std::string	model_database_service_
ros::WallDuration	motion_planning_duration_
ros::ServiceClient	object_database_model_description_client_
ros::ServiceClient	object_database_model_mesh_client_
std::map< std::string, bool >	object_in_hand_map_
std::string	path_planner_service_
ros::WallDuration	perception_duration_
double	pick_approach_distance_
double	place_approach_distance_
double	place_retreat_distance_
boost::shared_ptr < PlaceSequenceValidator >	place_tester_
arm_navigation_msgs::PlanningScene	planning_scene_diff_
ros::WallDuration	planning_scene_duration_
std::string	planning_scene_service_
ros::ServiceClient	planning_service_client_
ros::ServiceClient	rec_srv_
std::string	recognition_service_
household_objects_database_msgs::GetModelDescription::Response	recognized_model_description_
std::vector < household_objects_database_msgs::DatabaseModelPoseList >	recognized_models_
std::map< std::string, geometry_msgs::PoseStamped >	recognized_obj_pose_map_
ros::ServiceClient	seg_srv_
tabletop_object_detector::TabletopSegmentation::Response	segmentation_results_
std::string	segmentation_service_
std::vector < sensor_msgs::PointCloud >	segmented_clusters_
ros::ServiceClient	set_planning_scene_diff_client_
arm_navigation_msgs::CollisionObject	table_
boost::function< bool(TrajectoryExecutionDataVector)>	trajectories_finished_function_
bool	trajectories_succeeded_
std::string	trajectory_action_service_
trajectory_execution_monitor::TrajectoryExecutionMonitor	trajectory_execution_monitor_
std::string	trajectory_filter_service_
ros::ServiceClient	trajectory_filter_service_client_
ros::WallDuration	trajectory_filtering_duration_
std::string	wrist_link_name_

Detailed Description

Definition at line 96 of file RobotNavigator.h.

Member Typedef Documentation

typedef boost::shared_ptr<RobotNavigator> RobotNavigator::Ptr

Definition at line 100 of file RobotNavigator.h.

Constructor & Destructor Documentation

RobotNavigator::RobotNavigator ( )

Definition at line 54 of file RobotNavigator.cpp.

RobotNavigator::~RobotNavigator ( ) [virtual]

Definition at line 70 of file RobotNavigator.cpp.

Member Function Documentation

void RobotNavigator::addDetectedObjectToLocalPlanningScene ( arm_navigation_msgs::CollisionObject & obj ) [protected]

Definition at line 574 of file RobotNavigator.cpp.

void RobotNavigator::addDetectedObjectToLocalPlanningScene ( const household_objects_database_msgs::DatabaseModelPoseList & model ) [protected]

Definition at line 580 of file RobotNavigator.cpp.

void RobotNavigator::addDetectedTableToLocalPlanningScene ( const tabletop_object_detector::Table & table ) [protected]

Definition at line 532 of file RobotNavigator.cpp.

void RobotNavigator::addMarker	(	std::string	name,
		visualization_msgs::Marker &	marker
	)		`[protected]`

Definition at line 1328 of file RobotNavigator.cpp.

void RobotNavigator::addMarker	(	std::string	name,
		visualization_msgs::MarkerArray &	marker
	)		`[protected]`

Definition at line 1342 of file RobotNavigator.cpp.

bool RobotNavigator::attachCollisionObject	(	const std::string &	group_name,
		const std::string &	collision_object_name,
		const object_manipulation_msgs::Grasp &	grasp
	)		`[protected]`

Definition at line 1665 of file RobotNavigator.cpp.

void RobotNavigator::attachCollisionObjectCallback ( const std::string & group_name ) [protected]

Definition at line 1380 of file RobotNavigator.cpp.

bool RobotNavigator::attemptGraspSequence	(	const std::string &	group_name,
		const object_manipulator::GraspExecutionInfo &	gei,
		bool	performRecoveryMove = `true`
	)		`[protected, virtual]`

Definition at line 1398 of file RobotNavigator.cpp.

bool RobotNavigator::attemptPlaceSequence	(	const std::string &	group_name,
		const object_manipulator::PlaceExecutionInfo &	pei
	)		`[protected, virtual]`

Definition at line 1555 of file RobotNavigator.cpp.

void RobotNavigator::callbackPublishMarkers ( const ros::TimerEvent & evnt ) [protected, virtual]

Definition at line 1370 of file RobotNavigator.cpp.

void RobotNavigator::collisionObjToMarker	(	const arm_navigation_msgs::CollisionObject &	obj,
		visualization_msgs::Marker &	marker
	)		`[protected]`

Definition at line 1782 of file RobotNavigator.cpp.

virtual bool RobotNavigator::createCandidateGoalPoses ( std::vector< geometry_msgs::PoseStamped > & placePoses ) [protected, pure virtual]

bool RobotNavigator::createPickMoveSequence	(	const object_manipulation_msgs::PickupGoal &	pickupGoal,
		const std::vector< object_manipulation_msgs::Grasp > &	grasps_candidates,
		std::vector< object_manipulator::GraspExecutionInfo > &	grasp_sequence,
		std::vector< object_manipulation_msgs::Grasp > &	valid_grasps
	)		`[protected, virtual]`

Definition at line 1160 of file RobotNavigator.cpp.

bool RobotNavigator::createPlaceMoveSequence	(	const object_manipulation_msgs::PlaceGoal &	placeGoal,
		const std::vector< geometry_msgs::PoseStamped > &	place_poses,
		std::vector< object_manipulator::PlaceExecutionInfo > &	place_sequence
	)		`[protected, virtual]`

Definition at line 1190 of file RobotNavigator.cpp.

bool RobotNavigator::detachCollisionObject	(	const std::string &	group_name,
		const geometry_msgs::PoseStamped &	place_pose,
		const object_manipulation_msgs::Grasp &	grasp
	)		`[protected]`

Definition at line 1739 of file RobotNavigator.cpp.

void RobotNavigator::detachCollisionObjectCallback ( const std::string & group_name ) [protected]

Definition at line 1388 of file RobotNavigator.cpp.

void RobotNavigator::fetchParameters ( std::string nameSpace = "" ) [protected, virtual]

Definition at line 27 of file RobotNavigator.cpp.

const arm_navigation_msgs::CollisionObject * RobotNavigator::getCollisionObject ( unsigned int model_id ) [protected]

Definition at line 1841 of file RobotNavigator.cpp.

trajectory_msgs::JointTrajectory RobotNavigator::getGripperTrajectory ( int graspMove = object_manipulation_msgs::GraspHandPostureExecutionGoal::GRASP ) [protected, virtual]

Definition at line 1652 of file RobotNavigator.cpp.

std::vector< std::string > RobotNavigator::getJointNames ( const std::string & group ) [protected, virtual]

Definition at line 231 of file RobotNavigator.cpp.

visualization_msgs::Marker & RobotNavigator::getMarker ( std::string name ) [protected]

Definition at line 1365 of file RobotNavigator.cpp.

bool RobotNavigator::getMeshFromDatabasePose	(	const household_objects_database_msgs::DatabaseModelPose &	model_pose,
		arm_navigation_msgs::CollisionObject &	obj,
		const geometry_msgs::PoseStamped &	pose
	)		`[protected]`

Definition at line 732 of file RobotNavigator.cpp.

bool RobotNavigator::hasMarker ( std::string name ) [protected]

Definition at line 1353 of file RobotNavigator.cpp.

std::string RobotNavigator::makeCollisionObjectNameFromModelId ( unsigned int model_id ) [static, protected]

Definition at line 1834 of file RobotNavigator.cpp.

bool RobotNavigator::moveArm	(	const std::string &	group_name,
		const std::vector< double > &	joint_positions
	)		`[protected, virtual]`

Definition at line 290 of file RobotNavigator.cpp.

bool RobotNavigator::moveArmThroughPickSequence ( ) [protected, virtual]

Definition at line 1220 of file RobotNavigator.cpp.

bool RobotNavigator::moveArmThroughPlaceSequence ( ) [protected, virtual]

Definition at line 1288 of file RobotNavigator.cpp.

bool RobotNavigator::moveArmToSide ( ) [protected, virtual]

Definition at line 516 of file RobotNavigator.cpp.

bool RobotNavigator::performGraspPlanning ( ) [protected, virtual]

Definition at line 977 of file RobotNavigator.cpp.

bool RobotNavigator::performPickGraspPlanning ( ) [protected, virtual]

Definition at line 788 of file RobotNavigator.cpp.

bool RobotNavigator::performPlaceGraspPlanning ( ) [protected, virtual]

Definition at line 902 of file RobotNavigator.cpp.

bool RobotNavigator::performRecognition ( ) [protected, virtual]

Definition at line 649 of file RobotNavigator.cpp.

bool RobotNavigator::performSegmentation ( ) [protected, virtual]

Definition at line 600 of file RobotNavigator.cpp.

bool RobotNavigator::performTrajectoryFiltering	(	const std::string &	group_name,
		trajectory_msgs::JointTrajectory &	jt
	)		`[protected, virtual]`

Definition at line 470 of file RobotNavigator.cpp.

void RobotNavigator::printJointTrajectory ( const trajectory_msgs::JointTrajectory & jt ) [protected]

Definition at line 424 of file RobotNavigator.cpp.

void RobotNavigator::printTiming ( ) [protected]

Definition at line 1823 of file RobotNavigator.cpp.

void RobotNavigator::revertPlanningScene ( ) [protected]

Definition at line 218 of file RobotNavigator.cpp.

void RobotNavigator::run ( void ) [virtual]

Definition at line 1850 of file RobotNavigator.cpp.

void RobotNavigator::setup ( void ) [protected, virtual]

Definition at line 75 of file RobotNavigator.cpp.

void RobotNavigator::startCycleTimer ( ) [protected]

Definition at line 1812 of file RobotNavigator.cpp.

bool RobotNavigator::trajectoryFinishedCallback	(	bool	storeLastTraj,
		TrajectoryExecutionDataVector	tedv
	)		`[protected, virtual]`

Definition at line 186 of file RobotNavigator.cpp.

bool RobotNavigator::updateChangesToPlanningScene ( ) [protected]

Definition at line 256 of file RobotNavigator.cpp.

void RobotNavigator::updateCurrentJointStateToLastTrajectoryPoint ( const trajectory_msgs::JointTrajectory & traj ) [protected]

Definition at line 239 of file RobotNavigator.cpp.

bool RobotNavigator::validateJointTrajectory ( trajectory_msgs::JointTrajectory & jt ) [protected]

Definition at line 394 of file RobotNavigator.cpp.

Member Data Documentation

tf::TransformListener RobotNavigator::_TfListener [protected]

Definition at line 310 of file RobotNavigator.h.

boost::shared_ptr<TrajectoryControllerHandler> RobotNavigator::arm_controller_handler_ [protected]

Definition at line 239 of file RobotNavigator.h.

std::string RobotNavigator::arm_group_name_ [protected]

Definition at line 314 of file RobotNavigator.h.

ros::Publisher RobotNavigator::attached_object_publisher_ [protected]

Definition at line 300 of file RobotNavigator.h.

planning_environment::CollisionModels RobotNavigator::cm_ [protected]

Definition at line 217 of file RobotNavigator.h.

std::map<std::string, object_manipulation_msgs::Grasp> RobotNavigator::current_grasp_map_ [protected]

Definition at line 278 of file RobotNavigator.h.

std::map<std::string, std::string> RobotNavigator::current_grasped_object_name_ [protected]

Definition at line 277 of file RobotNavigator.h.

geometry_msgs::PoseStamped RobotNavigator::current_place_location_ [protected]

Definition at line 288 of file RobotNavigator.h.

arm_navigation_msgs::PlanningScene RobotNavigator::current_planning_scene_ [protected]

Definition at line 257 of file RobotNavigator.h.

unsigned int RobotNavigator::current_planning_scene_id_ [protected]

Definition at line 220 of file RobotNavigator.h.

planning_models::KinematicState* RobotNavigator::current_robot_state_ [protected]

Definition at line 259 of file RobotNavigator.h.

ros::WallTime RobotNavigator::cycle_start_time_ [protected]

Definition at line 291 of file RobotNavigator.h.

boost::condition_variable RobotNavigator::execution_completed_ [protected]

Definition at line 261 of file RobotNavigator.h.

ros::WallDuration RobotNavigator::execution_duration_ [protected]

Definition at line 292 of file RobotNavigator.h.

boost::mutex RobotNavigator::execution_mutex_ [protected]

Definition at line 262 of file RobotNavigator.h.

boost::function<bool(TrajectoryExecutionDataVector)> RobotNavigator::grasp_action_finished_function_ [protected]

Definition at line 244 of file RobotNavigator.h.

std::string RobotNavigator::grasp_action_service_ [protected]

Definition at line 322 of file RobotNavigator.h.

std::vector<object_manipulation_msgs::Grasp> RobotNavigator::grasp_candidates_ [protected]

Definition at line 281 of file RobotNavigator.h.

boost::shared_ptr<GraspActionServerClient> RobotNavigator::grasp_exec_action_client_ [protected]

Definition at line 249 of file RobotNavigator.h.

std::vector<object_manipulator::GraspExecutionInfo> RobotNavigator::grasp_pick_sequence_ [protected]

Definition at line 284 of file RobotNavigator.h.

object_manipulation_msgs::PickupGoal RobotNavigator::grasp_pickup_goal_ [protected]

Definition at line 279 of file RobotNavigator.h.

object_manipulation_msgs::PlaceGoal RobotNavigator::grasp_place_goal_ [protected]

Definition at line 280 of file RobotNavigator.h.

std::vector<object_manipulator::PlaceExecutionInfo> RobotNavigator::grasp_place_sequence_ [protected]

Definition at line 285 of file RobotNavigator.h.

ros::ServiceClient RobotNavigator::grasp_planning_client [protected]

Definition at line 233 of file RobotNavigator.h.

ros::WallDuration RobotNavigator::grasp_planning_duration_ [protected]

Definition at line 297 of file RobotNavigator.h.

std::string RobotNavigator::grasp_planning_service_ [protected]

Definition at line 330 of file RobotNavigator.h.

boost::shared_ptr<GraspSequenceValidator> RobotNavigator::grasp_tester_ [protected]

Definition at line 254 of file RobotNavigator.h.

boost::shared_ptr<TrajectoryControllerHandler> RobotNavigator::gripper_controller_handler_ [protected]

Definition at line 240 of file RobotNavigator.h.

std::string RobotNavigator::gripper_group_name_ [protected]

Definition at line 315 of file RobotNavigator.h.

std::string RobotNavigator::gripper_link_name_ [protected]

Definition at line 319 of file RobotNavigator.h.

std::string RobotNavigator::ik_plugin_name_ [protected]

Definition at line 337 of file RobotNavigator.h.

boost::shared_ptr<TrajectoryRecorder> RobotNavigator::joint_state_recorder_ [protected]

Definition at line 238 of file RobotNavigator.h.

std::string RobotNavigator::joint_states_topic_ [protected]

Definition at line 334 of file RobotNavigator.h.

unsigned int RobotNavigator::last_mpr_id_ [protected]

Definition at line 221 of file RobotNavigator.h.

TrajectoryExecutionDataVector RobotNavigator::last_trajectory_execution_data_vector_ [protected]

Definition at line 225 of file RobotNavigator.h.

std::string RobotNavigator::MARKER_ARM_LINK = "arm_links" [static]

Definition at line 111 of file RobotNavigator.h.

ros::Publisher RobotNavigator::marker_array_publisher_ [protected]

Definition at line 303 of file RobotNavigator.h.

std::string RobotNavigator::MARKER_ATTACHED_OBJECT = "attached_object" [static]

Definition at line 112 of file RobotNavigator.h.

std::map<std::string,visualization_msgs::Marker> RobotNavigator::marker_map_ [protected]

Definition at line 308 of file RobotNavigator.h.

ros::Timer RobotNavigator::marker_pub_timer_ [protected]

Definition at line 307 of file RobotNavigator.h.

ros::Publisher RobotNavigator::marker_publisher_ [protected]

Definition at line 304 of file RobotNavigator.h.

unsigned int RobotNavigator::max_mpr_id_ [protected]

Definition at line 222 of file RobotNavigator.h.

unsigned int RobotNavigator::max_trajectory_id_ [protected]

Definition at line 223 of file RobotNavigator.h.

std::string RobotNavigator::mesh_database_service_ [protected]

Definition at line 331 of file RobotNavigator.h.

std::string RobotNavigator::model_database_service_ [protected]

Definition at line 332 of file RobotNavigator.h.

ros::WallDuration RobotNavigator::motion_planning_duration_ [protected]

Definition at line 295 of file RobotNavigator.h.

std::string RobotNavigator::NAVIGATOR_NAMESPACE = "navigator" [static]

Definition at line 110 of file RobotNavigator.h.

std::string RobotNavigator::NODE_NAME = "robot_pick_place" [static]

Definition at line 109 of file RobotNavigator.h.

ros::ServiceClient RobotNavigator::object_database_model_description_client_ [protected]

Definition at line 234 of file RobotNavigator.h.

ros::ServiceClient RobotNavigator::object_database_model_mesh_client_ [protected]

Definition at line 232 of file RobotNavigator.h.

std::map<std::string, bool> RobotNavigator::object_in_hand_map_ [protected]

Definition at line 276 of file RobotNavigator.h.

std::string RobotNavigator::path_planner_service_ [protected]

Definition at line 326 of file RobotNavigator.h.

ros::WallDuration RobotNavigator::perception_duration_ [protected]

Definition at line 293 of file RobotNavigator.h.

double RobotNavigator::pick_approach_distance_ [protected]

Definition at line 340 of file RobotNavigator.h.

double RobotNavigator::place_approach_distance_ [protected]

Definition at line 341 of file RobotNavigator.h.

const tf::Transform RobotNavigator::PLACE_RECTIFICATION_TF [static]

Initial value:

 tf::Transform(
                tf::Quaternion(tf::Vector3(1.0f,0.0f,0.0f),M_PI),tf::Vector3(0.0f,0.0f,0.0f))

Definition at line 116 of file RobotNavigator.h.

double RobotNavigator::place_retreat_distance_ [protected]

Definition at line 342 of file RobotNavigator.h.

boost::shared_ptr<PlaceSequenceValidator> RobotNavigator::place_tester_ [protected]

Definition at line 255 of file RobotNavigator.h.

arm_navigation_msgs::PlanningScene RobotNavigator::planning_scene_diff_ [protected]

Definition at line 258 of file RobotNavigator.h.

ros::WallDuration RobotNavigator::planning_scene_duration_ [protected]

Definition at line 294 of file RobotNavigator.h.

std::string RobotNavigator::planning_scene_service_ [protected]

Definition at line 333 of file RobotNavigator.h.

ros::ServiceClient RobotNavigator::planning_service_client_ [protected]

Definition at line 230 of file RobotNavigator.h.

ros::ServiceClient RobotNavigator::rec_srv_ [protected]

Definition at line 229 of file RobotNavigator.h.

std::string RobotNavigator::recognition_service_ [protected]

Definition at line 329 of file RobotNavigator.h.

household_objects_database_msgs::GetModelDescription::Response RobotNavigator::recognized_model_description_ [protected]

Definition at line 273 of file RobotNavigator.h.

std::vector<household_objects_database_msgs::DatabaseModelPoseList> RobotNavigator::recognized_models_ [protected]

Definition at line 272 of file RobotNavigator.h.

std::map<std::string, geometry_msgs::PoseStamped> RobotNavigator::recognized_obj_pose_map_ [protected]

Definition at line 271 of file RobotNavigator.h.

ros::ServiceClient RobotNavigator::seg_srv_ [protected]

Definition at line 228 of file RobotNavigator.h.

tabletop_object_detector::TabletopSegmentation::Response RobotNavigator::segmentation_results_ [protected]

Definition at line 266 of file RobotNavigator.h.

std::string RobotNavigator::segmentation_service_ [protected]

Definition at line 328 of file RobotNavigator.h.

std::vector<sensor_msgs::PointCloud> RobotNavigator::segmented_clusters_ [protected]

Definition at line 267 of file RobotNavigator.h.

ros::ServiceClient RobotNavigator::set_planning_scene_diff_client_ [protected]

Definition at line 235 of file RobotNavigator.h.

arm_navigation_msgs::CollisionObject RobotNavigator::table_ [protected]

Definition at line 268 of file RobotNavigator.h.

boost::function<bool(TrajectoryExecutionDataVector)> RobotNavigator::trajectories_finished_function_ [protected]

Definition at line 243 of file RobotNavigator.h.

bool RobotNavigator::trajectories_succeeded_ [protected]

Definition at line 263 of file RobotNavigator.h.

std::string RobotNavigator::trajectory_action_service_ [protected]

Definition at line 323 of file RobotNavigator.h.

trajectory_execution_monitor::TrajectoryExecutionMonitor RobotNavigator::trajectory_execution_monitor_ [protected]

Definition at line 242 of file RobotNavigator.h.

std::string RobotNavigator::trajectory_filter_service_ [protected]

Definition at line 327 of file RobotNavigator.h.

ros::ServiceClient RobotNavigator::trajectory_filter_service_client_ [protected]

Definition at line 231 of file RobotNavigator.h.

ros::WallDuration RobotNavigator::trajectory_filtering_duration_ [protected]

Definition at line 296 of file RobotNavigator.h.

std::string RobotNavigator::VISUALIZATION_TOPIC = "visualization_markers" [static]

Definition at line 113 of file RobotNavigator.h.

std::string RobotNavigator::wrist_link_name_ [protected]

Definition at line 318 of file RobotNavigator.h.

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

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation