Class is used to wrap actionlib server and related variables. More...
#include <arm_manip_node.h>
Class is used to wrap actionlib server and related variables.
Class implements actionlib server, which can be called from some client (there is also example for a client in this package: arm_manip_state_machine.py). It's also maintaining state of manually assisted arm manipulation.
Definition at line 169 of file arm_manip_node.h.
anonymous enum |
List of possible states of arm manipulation task.
Definition at line 196 of file arm_manip_node.h.
srs_assisted_arm_navigation::ManualArmManipActionServer::ManualArmManipActionServer | ( | std::string | name | ) | [inline] |
Constructor of class.
name | Name of the action. |
< start of actionlib server
Definition at line 179 of file arm_manip_node.h.
srs_assisted_arm_navigation::ManualArmManipActionServer::~ManualArmManipActionServer | ( | void | ) | [inline] |
Definition at line 192 of file arm_manip_node.h.
void ManualArmManipActionServer::executeCB | ( | const srs_assisted_arm_navigation_msgs::ManualArmManipGoalConstPtr & | goal | ) | [protected] |
This method maintains state of execution, sends feedback and result of the action. It's used as callback of actionlib server.
goal | Goal of action (pregrasp position / away) |
There should appear messagebox in RVIZ and user should start solving task.
Definition at line 33 of file arm_manip_action.cpp.
unsigned int srs_assisted_arm_navigation::ManualArmManipActionServer::get_state | ( | ) | [inline] |
Method for changing state of execution (state, new_state variables).
Definition at line 203 of file arm_manip_node.h.
void ManualArmManipActionServer::setFeedbackFalse | ( | ) | [protected] |
Feedback of
Definition at line 203 of file arm_manip_action.cpp.
void ManualArmManipActionServer::srv_set_state | ( | unsigned int | n | ) |
Definition at line 193 of file arm_manip_action.cpp.
std::string srs_assisted_arm_navigation::ManualArmManipActionServer::action_name_ [protected] |
Definition at line 225 of file arm_manip_node.h.
srs_assisted_arm_navigation_msgs::ManualArmManipActionFeedback srs_assisted_arm_navigation::ManualArmManipActionServer::feedback_ [protected] |
Definition at line 226 of file arm_manip_node.h.
Flag indicating that arm_nav_start was called
Definition at line 232 of file arm_manip_node.h.
unsigned int srs_assisted_arm_navigation::ManualArmManipActionServer::new_state_ [protected] |
Variable for holding new state of execution
Definition at line 218 of file arm_manip_node.h.
Definition at line 220 of file arm_manip_node.h.
planning_scene_utils::PlanningSceneParameters srs_assisted_arm_navigation::ManualArmManipActionServer::params_ [protected] |
Definition at line 234 of file arm_manip_node.h.
srs_assisted_arm_navigation_msgs::ManualArmManipActionResult srs_assisted_arm_navigation::ManualArmManipActionServer::result_ [protected] |
Definition at line 227 of file arm_manip_node.h.
actionlib::SimpleActionServer<srs_assisted_arm_navigation_msgs::ManualArmManipAction> srs_assisted_arm_navigation::ManualArmManipActionServer::server_ [protected] |
Actionlib server.
Definition at line 224 of file arm_manip_node.h.
This is timeout between user actions
Definition at line 212 of file arm_manip_node.h.
time at which the task was started
Definition at line 229 of file arm_manip_node.h.
Action should start before start_time_ + start_timeout_
Definition at line 211 of file arm_manip_node.h.
unsigned int srs_assisted_arm_navigation::ManualArmManipActionServer::state_ [protected] |
Variable for holding current state of execution
Definition at line 217 of file arm_manip_node.h.
updated on each user action
Definition at line 230 of file arm_manip_node.h.