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

#include <robot_interaction.h>

List of all members.

Public Types

typedef
::robot_interaction::EndEffectorInteraction 
EndEffector
enum  EndEffectorInteractionStyle {
  EEF_POSITION_ARROWS = InteractionStyle::POSITION_ARROWS, EEF_ORIENTATION_CIRCLES = InteractionStyle::ORIENTATION_CIRCLES, EEF_POSITION_SPHERE = InteractionStyle::POSITION_SPHERE, EEF_ORIENTATION_SPHERE = InteractionStyle::ORIENTATION_SPHERE,
  EEF_POSITION_EEF = InteractionStyle::POSITION_EEF, EEF_ORIENTATION_EEF = InteractionStyle::ORIENTATION_EEF, EEF_FIXED = InteractionStyle::FIXED, EEF_POSITION = InteractionStyle::POSITION,
  EEF_ORIENTATION = InteractionStyle::ORIENTATION, EEF_6DOF = InteractionStyle::SIX_DOF, EEF_6DOF_SPHERE = InteractionStyle::SIX_DOF_SPHERE, EEF_POSITION_NOSPHERE = InteractionStyle::POSITION_NOSPHERE,
  EEF_ORIENTATION_NOSPHERE = InteractionStyle::ORIENTATION_NOSPHERE, EEF_6DOF_NOSPHERE = InteractionStyle::SIX_DOF_NOSPHERE
}
typedef
::robot_interaction::GenericInteraction 
Generic
typedef
::robot_interaction::InteractionHandler 
InteractionHandler
typedef
::robot_interaction::InteractionHandlerPtr 
InteractionHandlerPtr
typedef
::robot_interaction::JointInteraction 
Joint

Public Member Functions

void addActiveComponent (const InteractiveMarkerConstructorFn &construct, const ProcessFeedbackFn &process, const InteractiveMarkerUpdateFn &update=InteractiveMarkerUpdateFn(), const std::string &name="")
void addInteractiveMarkers (const ::robot_interaction::InteractionHandlerPtr &handler, const double marker_scale=0.0)
void clear ()
void clearInteractiveMarkers ()
void decideActiveComponents (const std::string &group)
void decideActiveComponents (const std::string &group, InteractionStyle::InteractionStyle style)
void decideActiveComponents (const std::string &group, EndEffectorInteractionStyle style)
void decideActiveEndEffectors (const std::string &group, EndEffectorInteractionStyle style)
const std::vector
< EndEffectorInteraction > & 
getActiveEndEffectors () const
const std::vector
< JointInteraction > & 
getActiveJoints () const
KinematicOptionsMapPtr getKinematicOptionsMap ()
const
robot_model::RobotModelConstPtr & 
getRobotModel () const
const std::string & getServerTopic (void) const
void publishInteractiveMarkers ()
 RobotInteraction (const robot_model::RobotModelConstPtr &kmodel, const std::string &ns="")
bool showingMarkers (const ::robot_interaction::InteractionHandlerPtr &handler)
void toggleMoveInteractiveMarkerTopic (bool enable)
void updateInteractiveMarkers (const ::robot_interaction::InteractionHandlerPtr &handler)
virtual ~RobotInteraction ()

Static Public Member Functions

static bool updateState (robot_state::RobotState &state, const EndEffectorInteraction &eef, const geometry_msgs::Pose &pose, unsigned int attempts, double ik_timeout, const robot_state::GroupStateValidityCallbackFn &validity_callback=robot_state::GroupStateValidityCallbackFn(), const kinematics::KinematicsQueryOptions &kinematics_query_options=kinematics::KinematicsQueryOptions())

Static Public Attributes

static const std::string INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic"
 The topic name on which the internal Interactive Marker Server operates.

Private Member Functions

void addEndEffectorMarkers (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, visualization_msgs::InteractiveMarker &im, bool position=true, bool orientation=true)
void addEndEffectorMarkers (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, const geometry_msgs::Pose &offset, visualization_msgs::InteractiveMarker &im, bool position=true, bool orientation=true)
void clearInteractiveMarkersUnsafe ()
double computeGroupMarkerSize (const std::string &group)
double computeLinkMarkerSize (const std::string &link)
void computeMarkerPose (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, const robot_state::RobotState &robot_state, geometry_msgs::Pose &pose, geometry_msgs::Pose &control_to_eef_tf) const
void decideActiveEndEffectors (const std::string &group)
void decideActiveEndEffectors (const std::string &group, InteractionStyle::InteractionStyle style)
void decideActiveJoints (const std::string &group)
void moveInteractiveMarker (const std::string name, const geometry_msgs::PoseStampedConstPtr &msg)
void processingThread ()
void processInteractiveMarkerFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void registerMoveInteractiveMarkerTopic (const std::string marker_name, const std::string &name)
void subscribeMoveInteractiveMarker (const std::string marker_name, const std::string &name)

Private Attributes

std::vector
< EndEffectorInteraction
active_eef_
std::vector< GenericInteractionactive_generic_
std::vector< JointInteractionactive_vj_
std::map< std::string,
visualization_msgs::InteractiveMarkerFeedbackConstPtr > 
feedback_map_
std::map< std::string,::robot_interaction::InteractionHandlerPtr > handlers_
std::vector< ros::Subscriberint_marker_move_subscribers_
std::vector< std::string > int_marker_move_topics_
std::vector< std::string > int_marker_names_
interactive_markers::InteractiveMarkerServerint_marker_server_
KinematicOptionsMapPtr kinematic_options_map_
boost::mutex marker_access_lock_
boost::condition_variable new_feedback_condition_
boost::scoped_ptr< boost::thread > processing_thread_
robot_model::RobotModelConstPtr robot_model_
bool run_processing_thread_
std::map< std::string,
std::size_t > 
shown_markers_
std::string topic_

Detailed Description

Definition at line 73 of file robot_interaction.h.


Member Typedef Documentation

Definition at line 79 of file robot_interaction.h.

Definition at line 81 of file robot_interaction.h.

Definition at line 77 of file robot_interaction.h.

typedef ::robot_interaction::InteractionHandlerPtr robot_interaction::RobotInteraction::InteractionHandlerPtr

Definition at line 78 of file robot_interaction.h.

Definition at line 80 of file robot_interaction.h.


Member Enumeration Documentation

DEPRECATED. Instead use robot_interaction::InteractionStyle::InteractionStyle in interaction.h

Enumerator:
EEF_POSITION_ARROWS 
EEF_ORIENTATION_CIRCLES 
EEF_POSITION_SPHERE 
EEF_ORIENTATION_SPHERE 
EEF_POSITION_EEF 
EEF_ORIENTATION_EEF 
EEF_FIXED 
EEF_POSITION 
EEF_ORIENTATION 
EEF_6DOF 
EEF_6DOF_SPHERE 
EEF_POSITION_NOSPHERE 
EEF_ORIENTATION_NOSPHERE 
EEF_6DOF_NOSPHERE 

Definition at line 247 of file robot_interaction.h.


Constructor & Destructor Documentation

robot_interaction::RobotInteraction::RobotInteraction ( const robot_model::RobotModelConstPtr &  kmodel,
const std::string &  ns = "" 
)

Definition at line 64 of file robot_interaction.cpp.

Definition at line 75 of file robot_interaction.cpp.


Member Function Documentation

void robot_interaction::RobotInteraction::addActiveComponent ( const InteractiveMarkerConstructorFn construct,
const ProcessFeedbackFn process,
const InteractiveMarkerUpdateFn update = InteractiveMarkerUpdateFn(),
const std::string &  name = "" 
)

add an interaction. An interaction is a marker that can be used to manipulate the robot state. This function does not add any markers. To add markers for all active interactions call addInteractiveMarkers(). construct - a callback to construct the marker. See comment on InteractiveMarkerConstructorFn above. update - Called when the robot state changes. Updates the marker pose. Optional. See comment on InteractiveMarkerUpdateFn above. process - called when the marker moves. Updates the robot state. See comment on ProcessFeedbackFn above.

Definition at line 101 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addEndEffectorMarkers ( const ::robot_interaction::InteractionHandlerPtr &  handler,
const EndEffectorInteraction eef,
visualization_msgs::InteractiveMarker &  im,
bool  position = true,
bool  orientation = true 
) [private]

Definition at line 375 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addEndEffectorMarkers ( const ::robot_interaction::InteractionHandlerPtr &  handler,
const EndEffectorInteraction eef,
const geometry_msgs::Pose offset,
visualization_msgs::InteractiveMarker &  im,
bool  position = true,
bool  orientation = true 
) [private]

Definition at line 384 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addInteractiveMarkers ( const ::robot_interaction::InteractionHandlerPtr &  handler,
const double  marker_scale = 0.0 
)

Add interactive markers for all active interactions. This adds markers just to the one handler. If there are multiple handlers call this for each handler for which you want markers. The markers are not actually added until you call publishInteractiveMarkers().

Definition at line 454 of file robot_interaction.cpp.

remove all interactions. Also removes all markers.

Definition at line 349 of file robot_interaction.cpp.

Definition at line 359 of file robot_interaction.cpp.

Definition at line 365 of file robot_interaction.cpp.

double robot_interaction::RobotInteraction::computeGroupMarkerSize ( const std::string &  group) [private]

Definition at line 146 of file robot_interaction.cpp.

double robot_interaction::RobotInteraction::computeLinkMarkerSize ( const std::string &  link) [private]

Definition at line 116 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::computeMarkerPose ( const ::robot_interaction::InteractionHandlerPtr &  handler,
const EndEffectorInteraction eef,
const robot_state::RobotState &  robot_state,
geometry_msgs::Pose pose,
geometry_msgs::Pose control_to_eef_tf 
) const [private]

Definition at line 598 of file robot_interaction.cpp.

Adds an interaction for:

  • each end effector in the group that can be controller by IK
  • each floating joint
  • each planar joint If no end effector exists in the robot then adds an interaction for the last link in the chain. This function does not add any markers. To add markers for all active interactions call addInteractiveMarkers().

Definition at line 85 of file robot_interaction.cpp.

Definition at line 90 of file robot_interaction.cpp.

Definition at line 867 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveEndEffectors ( const std::string &  group) [private]

Definition at line 254 of file robot_interaction.cpp.

Definition at line 259 of file robot_interaction.cpp.

Definition at line 873 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveJoints ( const std::string &  group) [private]

Definition at line 183 of file robot_interaction.cpp.

Definition at line 269 of file robot_interaction.h.

Definition at line 274 of file robot_interaction.h.

Definition at line 159 of file robot_interaction.h.

const robot_model::RobotModelConstPtr& robot_interaction::RobotInteraction::getRobotModel ( ) const [inline]

Definition at line 152 of file robot_interaction.h.

const std::string& robot_interaction::RobotInteraction::getServerTopic ( void  ) const [inline]

Definition at line 90 of file robot_interaction.h.

void robot_interaction::RobotInteraction::moveInteractiveMarker ( const std::string  name,
const geometry_msgs::PoseStampedConstPtr &  msg 
) [private]

Definition at line 706 of file robot_interaction.cpp.

Definition at line 748 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::processInteractiveMarkerFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [private]

Definition at line 725 of file robot_interaction.cpp.

Definition at line 668 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::registerMoveInteractiveMarkerTopic ( const std::string  marker_name,
const std::string &  name 
) [private]

Definition at line 564 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::showingMarkers ( const ::robot_interaction::InteractionHandlerPtr &  handler)

Definition at line 674 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::subscribeMoveInteractiveMarker ( const std::string  marker_name,
const std::string &  name 
) [private]

Definition at line 574 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::updateInteractiveMarkers ( const ::robot_interaction::InteractionHandlerPtr &  handler)

Definition at line 627 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::updateState ( robot_state::RobotState &  state,
const EndEffectorInteraction eef,
const geometry_msgs::Pose pose,
unsigned int  attempts,
double  ik_timeout,
const robot_state::GroupStateValidityCallbackFn validity_callback = robot_state::GroupStateValidityCallbackFn(),
const kinematics::KinematicsQueryOptions kinematics_query_options = kinematics::KinematicsQueryOptions() 
) [static]

Definition at line 691 of file robot_interaction.cpp.


Member Data Documentation

Definition at line 208 of file robot_interaction.h.

Definition at line 210 of file robot_interaction.h.

Definition at line 209 of file robot_interaction.h.

std::map<std::string, visualization_msgs::InteractiveMarkerFeedbackConstPtr> robot_interaction::RobotInteraction::feedback_map_ [private]

Definition at line 204 of file robot_interaction.h.

std::map<std::string, ::robot_interaction::InteractionHandlerPtr> robot_interaction::RobotInteraction::handlers_ [private]

Definition at line 212 of file robot_interaction.h.

Definition at line 227 of file robot_interaction.h.

Definition at line 230 of file robot_interaction.h.

std::vector<std::string> robot_interaction::RobotInteraction::int_marker_names_ [private]

Definition at line 232 of file robot_interaction.h.

Definition at line 225 of file robot_interaction.h.

const std::string robot_interaction::RobotInteraction::INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic" [static]

The topic name on which the internal Interactive Marker Server operates.

Definition at line 85 of file robot_interaction.h.

Definition at line 238 of file robot_interaction.h.

Definition at line 223 of file robot_interaction.h.

Definition at line 203 of file robot_interaction.h.

boost::scoped_ptr<boost::thread> robot_interaction::RobotInteraction::processing_thread_ [private]

Definition at line 200 of file robot_interaction.h.

robot_model::RobotModelConstPtr robot_interaction::RobotInteraction::robot_model_ [private]

Definition at line 206 of file robot_interaction.h.

Definition at line 201 of file robot_interaction.h.

std::map<std::string, std::size_t> robot_interaction::RobotInteraction::shown_markers_ [private]

Definition at line 213 of file robot_interaction.h.

Definition at line 234 of file robot_interaction.h.


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


robot_interaction
Author(s): Ioan Sucan
autogenerated on Tue Dec 26 2017 03:34:35