Public Member Functions | Protected Member Functions | Protected Attributes | Private Types | Private Member Functions | Static Private Member Functions | Private Attributes
robot_interaction::InteractionHandler Class Reference

#include <interaction_handler.h>

Inheritance diagram for robot_interaction::InteractionHandler:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void clearError (void)
 Clear any error settings. This makes the markers appear as if the state is no longer invalid.
void clearLastEndEffectorMarkerPose (const EndEffectorInteraction &eef)
 Clear the last interactive_marker command pose for the given end-effector.
void clearLastJointMarkerPose (const JointInteraction &vj)
 Clear the last interactive_marker command pose for the given joint.
void clearLastMarkerPoses ()
 Clear the last interactive_marker command poses for all end-effectors and joints.
void clearMenuHandler ()
 Remove the menu handler for this interaction handler.
void clearPoseOffset (const EndEffectorInteraction &eef)
 Clear the interactive marker pose offset for the given end-effector.
void clearPoseOffset (const JointInteraction &vj)
 Clear the interactive marker pose offset for the given joint.
void clearPoseOffsets ()
 Clear the pose offset for all end-effectors and virtual joints.
bool getControlsVisible () const
const
kinematics::KinematicsQueryOptions
getKinematicsQueryOptions () const
bool getLastEndEffectorMarkerPose (const EndEffectorInteraction &eef, geometry_msgs::PoseStamped &pose)
 Get the last interactive_marker command pose for an end-effector.
bool getLastJointMarkerPose (const JointInteraction &vj, geometry_msgs::PoseStamped &pose)
 Get the last interactive_marker command pose for a joint.
const boost::shared_ptr
< interactive_markers::MenuHandler > & 
getMenuHandler ()
 Get the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.
bool getMeshesVisible () const
const std::string & getName () const
bool getPoseOffset (const EndEffectorInteraction &eef, geometry_msgs::Pose &m)
 Get the offset from EEF to its marker.
bool getPoseOffset (const JointInteraction &vj, geometry_msgs::Pose &m)
 Get the offset from a joint to its marker.
const
InteractionHandlerCallbackFn
getUpdateCallback () const
virtual void handleEndEffector (const EndEffectorInteraction &eef, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 Update the internal state maintained by the handler using information from the received feedback message.
virtual void handleGeneric (const GenericInteraction &g, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 Update the internal state maintained by the handler using information from the received feedback message.
virtual void handleJoint (const JointInteraction &vj, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
 Update the internal state maintained by the handler using information from the received feedback message.
virtual bool inError (const EndEffectorInteraction &eef) const
 Check if the marker corresponding to this end-effector leads to an invalid state.
virtual bool inError (const JointInteraction &vj) const
 Check if the marker corresponding to this joint leads to an invalid state.
virtual bool inError (const GenericInteraction &g) const
 Check if the generic marker to an invalid state.
 InteractionHandler (const RobotInteractionPtr &robot_interaction, const std::string &name, const robot_state::RobotState &initial_robot_state, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >())
 InteractionHandler (const RobotInteractionPtr &robot_interaction, const std::string &name, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >())
 InteractionHandler (const std::string &name, const robot_state::RobotState &initial_robot_state, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >())
 InteractionHandler (const std::string &name, const robot_model::RobotModelConstPtr &model, const boost::shared_ptr< tf::Transformer > &tf=boost::shared_ptr< tf::Transformer >())
void setControlsVisible (bool visible)
void setGroupStateValidityCallback (const robot_state::GroupStateValidityCallbackFn &callback)
void setIKAttempts (unsigned int attempts)
void setIKTimeout (double timeout)
void setKinematicsQueryOptions (const kinematics::KinematicsQueryOptions &opt)
void setKinematicsQueryOptionsForGroup (const std::string &group_name, const kinematics::KinematicsQueryOptions &options)
void setMenuHandler (const boost::shared_ptr< interactive_markers::MenuHandler > &mh)
 Set the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.
void setMeshesVisible (bool visible)
void setPoseOffset (const EndEffectorInteraction &eef, const geometry_msgs::Pose &m)
 Set the offset from EEF to its marker.
void setPoseOffset (const JointInteraction &j, const geometry_msgs::Pose &m)
 Set the offset from a joint to its marker.
void setRobotInteraction (RobotInteraction *robot_interaction)
 This should only be called by RobotInteraction. Associates this InteractionHandler to a RobotInteraction.
void setUpdateCallback (const InteractionHandlerCallbackFn &callback)
virtual ~InteractionHandler ()

Protected Member Functions

bool transformFeedbackPose (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, const geometry_msgs::Pose &offset, geometry_msgs::PoseStamped &tpose)

Protected Attributes

const std::string name_
const std::string planning_frame_
boost::shared_ptr
< tf::Transformer
tf_

Private Types

typedef boost::function< void(InteractionHandler *) StateChangeCallbackFn )

Private Member Functions

bool getErrorState (const std::string &name) const
bool setErrorState (const std::string &name, bool new_error_state)
void updateStateEndEffector (robot_state::RobotState *state, const EndEffectorInteraction *eef, const geometry_msgs::Pose *pose, StateChangeCallbackFn *callback)
void updateStateGeneric (robot_state::RobotState *state, const GenericInteraction *g, const visualization_msgs::InteractiveMarkerFeedbackConstPtr *feedback, StateChangeCallbackFn *callback)
void updateStateJoint (robot_state::RobotState *state, const JointInteraction *vj, const geometry_msgs::Pose *pose, StateChangeCallbackFn *callback)

Static Private Member Functions

static std::string fixName (std::string name)

Private Attributes

bool display_controls_
bool display_meshes_
std::set< std::string > error_state_
KinematicOptionsMapPtr kinematic_options_map_
boost::shared_ptr
< interactive_markers::MenuHandler
menu_handler_
std::map< std::string,
geometry_msgs::Pose
offset_map_
boost::mutex offset_map_lock_
std::map< std::string,
geometry_msgs::PoseStamped > 
pose_map_
boost::mutex pose_map_lock_
const void * robot_interaction_
boost::function< void(InteractionHandler
*handler, bool
error_state_changed) 
update_callback_ )

Detailed Description

Manage interactive markers to control a RobotState.

Each instance maintains one or more interactive markers to control various joints in one group of one RobotState. The group being controlled is maintained by the RobotInteraction object that contains this InteractionHandler object. All InteractionHandler objects in the same RobotInteraction are controlling the same group.

Definition at line 76 of file interaction_handler.h.


Member Typedef Documentation

Definition at line 235 of file interaction_handler.h.


Constructor & Destructor Documentation

robot_interaction::InteractionHandler::InteractionHandler ( const RobotInteractionPtr &  robot_interaction,
const std::string &  name,
const robot_state::RobotState &  initial_robot_state,
const boost::shared_ptr< tf::Transformer > &  tf = boost::shared_ptr<tf::Transformer>() 
)

Definition at line 57 of file interaction_handler.cpp.

robot_interaction::InteractionHandler::InteractionHandler ( const RobotInteractionPtr &  robot_interaction,
const std::string &  name,
const boost::shared_ptr< tf::Transformer > &  tf = boost::shared_ptr<tf::Transformer>() 
)

Definition at line 72 of file interaction_handler.cpp.

robot_interaction::InteractionHandler::InteractionHandler ( const std::string &  name,
const robot_state::RobotState &  initial_robot_state,
const boost::shared_ptr< tf::Transformer > &  tf = boost::shared_ptr<tf::Transformer>() 
)

Definition at line 87 of file interaction_handler.cpp.

robot_interaction::InteractionHandler::InteractionHandler ( const std::string &  name,
const robot_model::RobotModelConstPtr &  model,
const boost::shared_ptr< tf::Transformer > &  tf = boost::shared_ptr<tf::Transformer>() 
)

Definition at line 101 of file interaction_handler.cpp.

Definition at line 95 of file interaction_handler.h.


Member Function Documentation

Clear any error settings. This makes the markers appear as if the state is no longer invalid.

Definition at line 391 of file interaction_handler.cpp.

Clear the last interactive_marker command pose for the given end-effector.

Parameters:
Thetarget end-effector.

Definition at line 198 of file interaction_handler.cpp.

Clear the last interactive_marker command pose for the given joint.

Parameters:
Thetarget joint.

Definition at line 204 of file interaction_handler.cpp.

Clear the last interactive_marker command poses for all end-effectors and joints.

Definition at line 210 of file interaction_handler.cpp.

Remove the menu handler for this interaction handler.

Definition at line 228 of file interaction_handler.cpp.

Clear the interactive marker pose offset for the given end-effector.

Parameters:
Thetarget end-effector.

Definition at line 132 of file interaction_handler.cpp.

Clear the interactive marker pose offset for the given joint.

Parameters:
Thetarget joint.

Definition at line 138 of file interaction_handler.cpp.

Clear the pose offset for all end-effectors and virtual joints.

Definition at line 144 of file interaction_handler.cpp.

std::string robot_interaction::InteractionHandler::fixName ( std::string  name) [static, private]

Definition at line 114 of file interaction_handler.cpp.

Definition at line 586 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::getErrorState ( const std::string &  name) const [private]

Get the error state for name. True if Interaction name is not in a valid pose.

Definition at line 414 of file interaction_handler.cpp.

Definition at line 550 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::getLastEndEffectorMarkerPose ( const EndEffectorInteraction eef,
geometry_msgs::PoseStamped &  pose 
)

Get the last interactive_marker command pose for an end-effector.

Parameters:
Theend-effector in question.
APoseStamped message containing the last (offset-removed) pose commanded for the end-effector.
Returns:
True if a pose for that end-effector was found, false otherwise.

Definition at line 174 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::getLastJointMarkerPose ( const JointInteraction vj,
geometry_msgs::PoseStamped &  pose 
)

Get the last interactive_marker command pose for a joint.

Parameters:
Thejoint in question.
APoseStamped message containing the last (offset-removed) pose commanded for the joint.
Returns:
True if a pose for that joint was found, false otherwise.

Definition at line 186 of file interaction_handler.cpp.

Get the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

Returns:
The menu handler.

Definition at line 222 of file interaction_handler.cpp.

Definition at line 574 of file interaction_handler.cpp.

const std::string& robot_interaction::InteractionHandler::getName ( ) const [inline]

Definition at line 99 of file interaction_handler.h.

Get the offset from EEF to its marker.

Parameters:
Thetarget end-effector.
Thepose offset (only valid if return value is true).
Returns:
True if an offset was found for the given end-effector.

Definition at line 150 of file interaction_handler.cpp.

Get the offset from a joint to its marker.

Parameters:
vjThe joint.
mThe pose offset (only valid if return value is true).
Returns:
True if an offset was found for the given joint.

Definition at line 162 of file interaction_handler.cpp.

Definition at line 562 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::handleEndEffector ( const EndEffectorInteraction eef,
const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback 
) [virtual]

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 250 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::handleGeneric ( const GenericInteraction g,
const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback 
) [virtual]

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 234 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::handleJoint ( const JointInteraction vj,
const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback 
) [virtual]

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 281 of file interaction_handler.cpp.

Check if the marker corresponding to this end-effector leads to an invalid state.

Definition at line 376 of file interaction_handler.cpp.

Check if the marker corresponding to this joint leads to an invalid state.

Definition at line 386 of file interaction_handler.cpp.

Check if the generic marker to an invalid state.

Definition at line 381 of file interaction_handler.cpp.

Definition at line 580 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::setErrorState ( const std::string &  name,
bool  new_error_state 
) [private]

Definition at line 399 of file interaction_handler.cpp.

Definition at line 541 of file interaction_handler.cpp.

Definition at line 513 of file interaction_handler.cpp.

Definition at line 504 of file interaction_handler.cpp.

Definition at line 522 of file interaction_handler.cpp.

Definition at line 531 of file interaction_handler.cpp.

Set the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

Parameters:
Amenu handler.

Definition at line 216 of file interaction_handler.cpp.

Definition at line 568 of file interaction_handler.cpp.

Set the offset from EEF to its marker.

Parameters:
eefThe target end-effector.
mThe pose of the marker in the frame of the end-effector parent.

Definition at line 120 of file interaction_handler.cpp.

Set the offset from a joint to its marker.

Parameters:
jThe target joint.
mThe pose of the marker in the frame of the joint parent.

Definition at line 126 of file interaction_handler.cpp.

This should only be called by RobotInteraction. Associates this InteractionHandler to a RobotInteraction.

Definition at line 466 of file interaction_handler.cpp.

Definition at line 556 of file interaction_handler.cpp.

bool robot_interaction::InteractionHandler::transformFeedbackPose ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback,
const geometry_msgs::Pose offset,
geometry_msgs::PoseStamped &  tpose 
) [protected]

Definition at line 420 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::updateStateEndEffector ( robot_state::RobotState *  state,
const EndEffectorInteraction eef,
const geometry_msgs::Pose pose,
StateChangeCallbackFn callback 
) [private]

Definition at line 324 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::updateStateGeneric ( robot_state::RobotState *  state,
const GenericInteraction g,
const visualization_msgs::InteractiveMarkerFeedbackConstPtr *  feedback,
StateChangeCallbackFn callback 
) [private]

Definition at line 313 of file interaction_handler.cpp.

void robot_interaction::InteractionHandler::updateStateJoint ( robot_state::RobotState *  state,
const JointInteraction vj,
const geometry_msgs::Pose pose,
StateChangeCallbackFn callback 
) [private]

Definition at line 338 of file interaction_handler.cpp.


Member Data Documentation

Definition at line 322 of file interaction_handler.h.

Definition at line 319 of file interaction_handler.h.

Definition at line 299 of file interaction_handler.h.

Definition at line 295 of file interaction_handler.h.

Definition at line 306 of file interaction_handler.h.

const std::string robot_interaction::InteractionHandler::name_ [protected]

Definition at line 230 of file interaction_handler.h.

Definition at line 269 of file interaction_handler.h.

Definition at line 290 of file interaction_handler.h.

Definition at line 231 of file interaction_handler.h.

std::map<std::string, geometry_msgs::PoseStamped> robot_interaction::InteractionHandler::pose_map_ [private]

Definition at line 278 of file interaction_handler.h.

Definition at line 289 of file interaction_handler.h.

Definition at line 287 of file interaction_handler.h.

Definition at line 232 of file interaction_handler.h.

boost::function<void(InteractionHandler* handler, bool error_state_changed) robot_interaction::InteractionHandler::update_callback_) [private]

Definition at line 316 of file interaction_handler.h.


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


robot_interaction
Author(s): Ioan Sucan
autogenerated on Fri Apr 20 2018 03:32:08