The TrajectoryMonitor class handles monitors progress of trajectories. More...

#include <TrajectoryMonitor.h>

Inheritance diagram for TrajectoryMonitor:

Classes
struct	GoalIdCompare
struct	JointData
struct	TrajectoryMonitorFactors
Public Member Functions
void	addCartesianWaypoints (r2_msgs::PoseTrajectory trajectory, const r2_msgs::PoseState &poseStatesMsg)
void	addJointWaypoints (const trajectory_msgs::JointTrajectory &trajectory, const std::vector< r2_msgs::ReplanType > &replan=std::vector< r2_msgs::ReplanType >())
void	evaluateReplanTrigger (const sensor_msgs::JointState &jointStatesMsg, const r2_msgs::JointCommand &jointCommandMsg, const r2_msgs::JointControlDataArray &jointStatusMsg, const r2_msgs::JointCapability &jointCapMsg)
	evaluateReplanTrigger evaluates inputs to see if we need a replan.
void	replan ()
	replan if evaluateReplanTrigger indicates a need to replan, the replan is done here
void	setBases (const r2_msgs::StringArray &basesMsg)
void	setFactors (const r2_msgs::TrajectoryMonitorFactors &factorsMsg)
	TrajectoryMonitor (const std::string &name)
void	updateGoals (const actionlib_msgs::GoalStatusArray &goalStatuses)
	updateGoals updates stored trajectories based on goal status
void	updateMonitor (const r2_msgs::JointCommand &jointCommandMsg, const r2_msgs::PoseState &poseCommandsMsg)
	updateMonitor updates stored trajectories based on current position commands
virtual	~TrajectoryMonitor ()
Protected Member Functions
virtual void	writeBases (const r2_msgs::StringArray &basesMsg)=0
virtual void	writeCartesianWaypoints (const r2_msgs::PoseTrajectoryReplan &trajectory)=0
virtual void	writeJointWaypoints (const r2_msgs::JointTrajectoryReplan &trajectory)=0
Protected Attributes
TrajectoryMonitorFactors	defaultFactors
std::string	embeddedSuffix
std::map< std::string, TrajectoryMonitorFactors >	factors
Private Types
typedef std::map < actionlib_msgs::GoalID, trajectory_msgs::JointTrajectory, GoalIdCompare >	JointTrajectoriesMap_type
typedef std::map < actionlib_msgs::GoalID, r2_msgs::PoseTrajectory, GoalIdCompare >	PoseTrajectoriesMap_type
Private Member Functions
void	sendCartesianWaypoints (const r2_msgs::PoseTrajectory &trajectory, const r2_msgs::ReplanType::_type_type &replan=r2_msgs::ReplanType::NONE)
void	sendJointWaypoints (const trajectory_msgs::JointTrajectory &trajectory, const std::vector< r2_msgs::ReplanType > &replan=std::vector< r2_msgs::ReplanType >())
Private Attributes
std::vector< std::string >	bases
std::map< std::string, JointData >	jointData
std::map< std::string, JointData >::iterator	jointDataIt
JointTrajectoriesMap_type	jointTrajectories
PoseTrajectoriesMap_type	poseTrajectories
trajectory_msgs::JointTrajectory	replanTraj
std::vector< r2_msgs::ReplanType >	replanVec

Detailed Description

The TrajectoryMonitor class handles monitors progress of trajectories.

Definition at line 23 of file TrajectoryMonitor.h.

Member Typedef Documentation

typedef std::map<actionlib_msgs::GoalID, trajectory_msgs::JointTrajectory, GoalIdCompare> TrajectoryMonitor::JointTrajectoriesMap_type [private]

Definition at line 121 of file TrajectoryMonitor.h.

typedef std::map<actionlib_msgs::GoalID, r2_msgs::PoseTrajectory, GoalIdCompare> TrajectoryMonitor::PoseTrajectoriesMap_type [private]

Definition at line 119 of file TrajectoryMonitor.h.

Constructor & Destructor Documentation

TrajectoryMonitor::TrajectoryMonitor ( const std::string & name )

Definition at line 5 of file TrajectoryMonitor.cpp.

TrajectoryMonitor::~TrajectoryMonitor ( ) [virtual]

Definition at line 15 of file TrajectoryMonitor.cpp.

Member Function Documentation

void TrajectoryMonitor::addCartesianWaypoints	(	r2_msgs::PoseTrajectory	trajectory,
		const r2_msgs::PoseState &	poseStatesMsg
	)

Definition at line 369 of file TrajectoryMonitor.cpp.

void TrajectoryMonitor::addJointWaypoints	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const std::vector< r2_msgs::ReplanType > &	replan = `std::vector<r2_msgs::ReplanType>()`
	)

Definition at line 556 of file TrajectoryMonitor.cpp.

void TrajectoryMonitor::evaluateReplanTrigger	(	const sensor_msgs::JointState &	jointStatesMsg,
		const r2_msgs::JointCommand &	jointCommandMsg,
		const r2_msgs::JointControlDataArray &	jointStatusMsg,
		const r2_msgs::JointCapability &	jointCapMsg
	)

evaluateReplanTrigger evaluates inputs to see if we need a replan.

Definition at line 47 of file TrajectoryMonitor.cpp.

void TrajectoryMonitor::replan ( )

replan if evaluateReplanTrigger indicates a need to replan, the replan is done here

Definition at line 185 of file TrajectoryMonitor.cpp.

void TrajectoryMonitor::sendCartesianWaypoints	(	const r2_msgs::PoseTrajectory &	trajectory,
		const r2_msgs::ReplanType::_type_type &	replan = `r2_msgs::ReplanType::NONE`
	)		`[private]`

Definition at line 595 of file TrajectoryMonitor.cpp.

void TrajectoryMonitor::sendJointWaypoints	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const std::vector< r2_msgs::ReplanType > &	replan = `std::vector<r2_msgs::ReplanType>()`
	)		`[private]`

Definition at line 605 of file TrajectoryMonitor.cpp.

void TrajectoryMonitor::setBases ( const r2_msgs::StringArray & basesMsg )

Definition at line 19 of file TrajectoryMonitor.cpp.

void TrajectoryMonitor::setFactors ( const r2_msgs::TrajectoryMonitorFactors & factorsMsg )

Definition at line 28 of file TrajectoryMonitor.cpp.

void TrajectoryMonitor::updateGoals ( const actionlib_msgs::GoalStatusArray & goalStatuses )

updateGoals updates stored trajectories based on goal status

Definition at line 351 of file TrajectoryMonitor.cpp.

void TrajectoryMonitor::updateMonitor	(	const r2_msgs::JointCommand &	jointCommandMsg,
		const r2_msgs::PoseState &	poseCommandsMsg
	)

updateMonitor updates stored trajectories based on current position commands

Definition at line 218 of file TrajectoryMonitor.cpp.

virtual void TrajectoryMonitor::writeBases ( const r2_msgs::StringArray & basesMsg ) [protected, pure virtual]

Implemented in TrajectoryMonitorBasicFixture::MyTrajMon.

virtual void TrajectoryMonitor::writeCartesianWaypoints ( const r2_msgs::PoseTrajectoryReplan & trajectory ) [protected, pure virtual]

Implemented in TrajectoryMonitorBasicFixture::MyTrajMon.

virtual void TrajectoryMonitor::writeJointWaypoints ( const r2_msgs::JointTrajectoryReplan & trajectory ) [protected, pure virtual]

Implemented in TrajectoryMonitorBasicFixture::MyTrajMon.

Member Data Documentation

std::vector<std::string> TrajectoryMonitor::bases [private]

Definition at line 83 of file TrajectoryMonitor.h.

TrajectoryMonitorFactors TrajectoryMonitor::defaultFactors [protected]

Definition at line 69 of file TrajectoryMonitor.h.

std::string TrajectoryMonitor::embeddedSuffix [protected]

Definition at line 72 of file TrajectoryMonitor.h.

std::map<std::string, TrajectoryMonitorFactors> TrajectoryMonitor::factors [protected]

Definition at line 70 of file TrajectoryMonitor.h.

std::map<std::string, JointData> TrajectoryMonitor::jointData [private]

Definition at line 113 of file TrajectoryMonitor.h.

std::map<std::string, JointData>::iterator TrajectoryMonitor::jointDataIt [private]

Definition at line 114 of file TrajectoryMonitor.h.

JointTrajectoriesMap_type TrajectoryMonitor::jointTrajectories [private]

Definition at line 122 of file TrajectoryMonitor.h.

PoseTrajectoriesMap_type TrajectoryMonitor::poseTrajectories [private]

Definition at line 120 of file TrajectoryMonitor.h.

trajectory_msgs::JointTrajectory TrajectoryMonitor::replanTraj [private]

Definition at line 115 of file TrajectoryMonitor.h.

std::vector<r2_msgs::ReplanType> TrajectoryMonitor::replanVec [private]

Definition at line 116 of file TrajectoryMonitor.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation