planning_scene_monitor::TrajectoryMonitor Class Reference

Monitors the joint_states topic and tf to record the trajectory of the robot. More...

#include <trajectory_monitor.h>

List of all members.

Public Member Functions
void	clearTrajectory ()
double	getSamplingFrequency () const
const robot_trajectory::RobotTrajectory &	getTrajectory ()
	Return the current maintained trajectory. This function is not thread safe (hence NOT const), because the trajectory could be modified.
bool	isActive () const
void	setOnStateAddCallback (const TrajectoryStateAddedCallback &callback)
void	setSamplingFrequency (double sampling_frequency)
void	startTrajectoryMonitor ()
void	stopTrajectoryMonitor ()
void	swapTrajectory (robot_trajectory::RobotTrajectory &other)
	TrajectoryMonitor (const CurrentStateMonitorConstPtr &state_monitor, double sampling_frequency=5.0)
	Constructor.
	~TrajectoryMonitor ()
Private Member Functions
void	recordStates ()
Private Attributes
CurrentStateMonitorConstPtr	current_state_monitor_
ros::Time	last_recorded_state_time_
boost::scoped_ptr< boost::thread >	record_states_thread_
double	sampling_frequency_
TrajectoryStateAddedCallback	state_add_callback_
robot_trajectory::RobotTrajectory	trajectory_
ros::Time	trajectory_start_time_

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Detailed Description

Monitors the joint_states topic and tf to record the trajectory of the robot.

Definition at line 51 of file trajectory_monitor.h.

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Constructor & Destructor Documentation

planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor	(	const CurrentStateMonitorConstPtr &	state_monitor,
		double	sampling_frequency = 5.0
	)

Constructor.

Definition at line 42 of file trajectory_monitor.cpp.

planning_scene_monitor::TrajectoryMonitor::~TrajectoryMonitor

(

)

Definition at line 50 of file trajectory_monitor.cpp.

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Member Function Documentation

void planning_scene_monitor::TrajectoryMonitor::clearTrajectory

(

)

Definition at line 88 of file trajectory_monitor.cpp.

double planning_scene_monitor::TrajectoryMonitor::getSamplingFrequency

(

)

const [inline]

Definition at line 69 of file trajectory_monitor.h.

const robot_trajectory::RobotTrajectory& planning_scene_monitor::TrajectoryMonitor::getTrajectory

(

)

[inline]

Return the current maintained trajectory. This function is not thread safe (hence NOT const), because the trajectory could be modified.

Definition at line 77 of file trajectory_monitor.h.

bool planning_scene_monitor::TrajectoryMonitor::isActive

(

)

const

Definition at line 63 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::recordStates

(

)

[private]

Definition at line 98 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::setOnStateAddCallback

(

const TrajectoryStateAddedCallback &

callback

)

[inline]

Definition at line 87 of file trajectory_monitor.h.

void planning_scene_monitor::TrajectoryMonitor::setSamplingFrequency

(

double

sampling_frequency

)

Definition at line 55 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::startTrajectoryMonitor

(

)

Definition at line 68 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::stopTrajectoryMonitor

(

)

Definition at line 77 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::swapTrajectory

(

robot_trajectory::RobotTrajectory &

other

)

[inline]

Definition at line 82 of file trajectory_monitor.h.

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Member Data Documentation

CurrentStateMonitorConstPtr planning_scene_monitor::TrajectoryMonitor::current_state_monitor_ [private]

Definition at line 96 of file trajectory_monitor.h.

ros::Time planning_scene_monitor::TrajectoryMonitor::last_recorded_state_time_ [private]

Definition at line 101 of file trajectory_monitor.h.

boost::scoped_ptr<boost::thread> planning_scene_monitor::TrajectoryMonitor::record_states_thread_ [private]

Definition at line 103 of file trajectory_monitor.h.

double planning_scene_monitor::TrajectoryMonitor::sampling_frequency_ [private]

Definition at line 97 of file trajectory_monitor.h.

TrajectoryStateAddedCallback planning_scene_monitor::TrajectoryMonitor::state_add_callback_ [private]

Definition at line 104 of file trajectory_monitor.h.

robot_trajectory::RobotTrajectory planning_scene_monitor::TrajectoryMonitor::trajectory_ [private]

Definition at line 99 of file trajectory_monitor.h.

ros::Time planning_scene_monitor::TrajectoryMonitor::trajectory_start_time_ [private]

Definition at line 100 of file trajectory_monitor.h.

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

• trajectory_monitor.h
• trajectory_monitor.cpp