Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
jsk_footstep_planner::FootstepMarker Class Reference

#include <footstep_marker.h>

List of all members.

Public Types

enum  CommandMode { SINGLE, CONTINUOUS, STACK }
typedef FootstepMarkerConfig Config
typedef
jsk_footstep_msgs::ExecFootstepsResult 
ExecResult
typedef
actionlib::SimpleActionClient
< jsk_footstep_msgs::ExecFootstepsAction > 
ExecuteActionClient
typedef boost::function< void(const
visualization_msgs::InteractiveMarkerFeedbackConstPtr &)> 
MenuCallbackFunction
typedef
actionlib::SimpleActionClient
< jsk_footstep_msgs::PlanFootstepsAction > 
PlanningActionClient
enum  PlanningState { NOT_STARTED, FINISHED, ON_GOING }
typedef
jsk_footstep_msgs::PlanFootstepsResult 
PlanResult
typedef boost::shared_ptr
< FootstepMarker
Ptr

Public Member Functions

 FootstepMarker ()
virtual ~FootstepMarker ()

Protected Member Functions

virtual void callFollowPathPlan (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void cancelPlanning ()
virtual void configCallback (Config &config, uint32_t level)
virtual visualization_msgs::Marker distanceLineMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual visualization_msgs::Marker distanceTextMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual void enable2DCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void enable3DCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void enableContinuousCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void enableCubeCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void enableLineCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void enableSingleCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void enableStackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void executeDoneCB (const actionlib::SimpleClientGoalState &state, const ExecResult::ConstPtr &result)
virtual void executeFootstepCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual bool executeFootstepService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual
jsk_footstep_msgs::FootstepArray 
footstepArrayFromPosePair (PosePair::Ptr pose_pair, const std_msgs::Header &header, bool is_lleg_first)
virtual PosePair::Ptr getCurrentFootstepPoses (const ros::Time &stamp)
virtual PosePair::Ptr getDefaultFootstepPair ()
virtual FootstepTrans getDefaultLeftLegOffset ()
virtual FootstepTrans getDefaultRightLegOffset ()
virtual bool getFootstepMarkerPoseService (jsk_interactive_marker::GetTransformableMarkerPose::Request &req, jsk_interactive_marker::GetTransformableMarkerPose::Response &res)
virtual PosePair::Ptr getLatestCurrentFootstepPoses ()
virtual visualization_msgs::Marker goalBoundingBoxMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual visualization_msgs::Marker makeFootstepMarker (FootstepTrans pose, unsigned char leg)
virtual visualization_msgs::Marker originBoundingBoxMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual visualization_msgs::Marker originMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual void plan (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void planDoneCB (const actionlib::SimpleClientGoalState &state, const PlanResult::ConstPtr &result)
virtual void planIfPossible (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void poseStampedCommandCallback (const geometry_msgs::PoseStamped::ConstPtr &msg)
virtual void processFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void processMenuFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void processPoseUpdateCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual void publishCurrentMarkerMode ()
virtual void resetInteractiveMarker ()
virtual void resetMarkerCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual bool resetMarkerService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual void setupGoalMarker (FootstepTrans pose, visualization_msgs::InteractiveMarker &int_marker)
virtual void setupInitialMarker (PosePair::Ptr leg_poses, visualization_msgs::InteractiveMarker &int_marker)
virtual void setupMenuHandler ()
virtual visualization_msgs::Marker stackedPosesMarker (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual void stackFootstepCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
virtual bool stackMarkerPoseService (jsk_interactive_marker::SetPose::Request &req, jsk_interactive_marker::SetPose::Response &res)
virtual visualization_msgs::Marker targetArrow (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual bool toggleFootstepMarkerModeService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual void updateMarkerArray (const std_msgs::Header &header, const geometry_msgs::Pose &pose)
virtual bool waitForExecuteFootstepService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual bool waitForFootstepPlanService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

Protected Attributes

ExecuteActionClient ac_exec_
PlanningActionClient ac_planner_
FootstepTrans collision_bbox_offset_
FootstepVec collision_bbox_size_
CommandMode command_mode_
interactive_markers::MenuHandler::EntryHandle cont_mode_
interactive_markers::MenuHandler::EntryHandle cube_mode_
FootstepTrans current_lleg_offset_
FootstepTrans current_rleg_offset_
double default_footstep_margin_
bool disable_tf_
interactive_markers::MenuHandler::EntryHandle entry_2d_mode_
interactive_markers::MenuHandler::EntryHandle entry_3d_mode_
double foot_size_x_
double foot_size_y_
double foot_size_z_
bool have_last_step_
bool is_2d_mode_
bool is_cube_mode_
jsk_footstep_msgs::Footstep last_steps_ [2]
interactive_markers::MenuHandler::EntryHandle line_mode_
std::string lleg_end_coords_
FootstepVec lleg_footstep_offset_
FootstepTrans lleg_goal_pose_
interactive_markers::MenuHandler menu_handler_
ros::NodeHandle nh_
std::string odom_frame_id_
PosePair::Ptr original_foot_poses_
jsk_footstep_msgs::FootstepArray plan_result_
boost::mutex planner_mutex_
PlanningState planning_state_
ros::NodeHandle pnh_
ros::Publisher pub_current_marker_mode_
MarkerArrayPublisher pub_marker_array_
ros::Publisher pub_plan_result_
std::string rleg_end_coords_
FootstepVec rleg_footstep_offset_
FootstepTrans rleg_goal_pose_
boost::shared_ptr
< interactive_markers::InteractiveMarkerServer
server_
interactive_markers::MenuHandler::EntryHandle single_mode_
boost::shared_ptr
< dynamic_reconfigure::Server
< Config > > 
srv_
ros::ServiceServer srv_execute_footstep_
ros::ServiceServer srv_get_fs_marker_pose_
ros::ServiceServer srv_reset_fs_marker_
ros::ServiceServer srv_stack_marker_pose_
ros::ServiceServer srv_toggle_fs_com_mode_
ros::ServiceServer srv_wait_for_exec_fs_
ros::ServiceServer srv_wait_for_fs_plan_
interactive_markers::MenuHandler::EntryHandle stack_btn_
interactive_markers::MenuHandler::EntryHandle stack_mode_
std::vector< FootstepTransstacked_poses_
ros::Subscriber sub_pose_stamped_command_
boost::shared_ptr
< tf2_ros::BufferClient
tf_client_
bool use_default_goal_

Detailed Description

Definition at line 96 of file footstep_marker.h.


Member Typedef Documentation

typedef FootstepMarkerConfig jsk_footstep_planner::FootstepMarker::Config

Definition at line 111 of file footstep_marker.h.

typedef jsk_footstep_msgs::ExecFootstepsResult jsk_footstep_planner::FootstepMarker::ExecResult

Definition at line 105 of file footstep_marker.h.

Definition at line 103 of file footstep_marker.h.

typedef boost::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&)> jsk_footstep_planner::FootstepMarker::MenuCallbackFunction

Definition at line 107 of file footstep_marker.h.

Definition at line 101 of file footstep_marker.h.

typedef jsk_footstep_msgs::PlanFootstepsResult jsk_footstep_planner::FootstepMarker::PlanResult

Definition at line 104 of file footstep_marker.h.

Definition at line 99 of file footstep_marker.h.


Member Enumeration Documentation

Enumerator:
SINGLE 
CONTINUOUS 
STACK 

Definition at line 110 of file footstep_marker.h.

Enumerator:
NOT_STARTED 
FINISHED 
ON_GOING 

Definition at line 109 of file footstep_marker.h.


Constructor & Destructor Documentation

Definition at line 136 of file footstep_marker.cpp.

Definition at line 214 of file footstep_marker.cpp.


Member Function Documentation

void jsk_footstep_planner::FootstepMarker::callFollowPathPlan ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 1277 of file footstep_marker.cpp.

Definition at line 660 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::configCallback ( Config config,
uint32_t  level 
) [protected, virtual]

Definition at line 1074 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::distanceLineMarker ( const std_msgs::Header header,
const geometry_msgs::Pose pose 
) [protected, virtual]

Definition at line 814 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::distanceTextMarker ( const std_msgs::Header header,
const geometry_msgs::Pose pose 
) [protected, virtual]

Definition at line 896 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enable2DCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 536 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enable3DCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 551 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enableContinuousCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 595 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enableCubeCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 508 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enableLineCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 522 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enableSingleCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 566 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::enableStackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 624 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::executeDoneCB ( const actionlib::SimpleClientGoalState state,
const ExecResult::ConstPtr &  result 
) [protected, virtual]

Definition at line 431 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::executeFootstepCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 449 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::executeFootstepService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
) [protected, virtual]

Definition at line 1166 of file footstep_marker.cpp.

jsk_footstep_msgs::FootstepArray jsk_footstep_planner::FootstepMarker::footstepArrayFromPosePair ( PosePair::Ptr  pose_pair,
const std_msgs::Header header,
bool  is_lleg_first 
) [protected, virtual]

Definition at line 669 of file footstep_marker.cpp.

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bool jsk_footstep_planner::FootstepMarker::getFootstepMarkerPoseService ( jsk_interactive_marker::GetTransformableMarkerPose::Request &  req,
jsk_interactive_marker::GetTransformableMarkerPose::Response &  res 
) [protected, virtual]

Definition at line 1208 of file footstep_marker.cpp.

Definition at line 1039 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::goalBoundingBoxMarker ( const std_msgs::Header header,
const geometry_msgs::Pose pose 
) [protected, virtual]

Definition at line 942 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::makeFootstepMarker ( FootstepTrans  pose,
unsigned char  leg 
) [protected, virtual]

Definition at line 221 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::originBoundingBoxMarker ( const std_msgs::Header header,
const geometry_msgs::Pose pose 
) [protected, virtual]

Definition at line 926 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::originMarker ( const std_msgs::Header header,
const geometry_msgs::Pose pose 
) [protected, virtual]

Definition at line 868 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::plan ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 696 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::planDoneCB ( const actionlib::SimpleClientGoalState state,
const PlanResult::ConstPtr &  result 
) [protected, virtual]

Definition at line 735 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::planIfPossible ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 744 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::poseStampedCommandCallback ( const geometry_msgs::PoseStamped::ConstPtr &  msg) [protected, virtual]

Definition at line 1083 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::processFeedbackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 761 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::processMenuFeedbackCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 655 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::processPoseUpdateCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 1026 of file footstep_marker.cpp.

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void jsk_footstep_planner::FootstepMarker::resetMarkerCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 421 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::resetMarkerService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
) [protected, virtual]

Definition at line 1124 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::setupGoalMarker ( FootstepTrans  pose,
visualization_msgs::InteractiveMarker &  int_marker 
) [protected, virtual]

Definition at line 292 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::setupInitialMarker ( PosePair::Ptr  leg_poses,
visualization_msgs::InteractiveMarker &  int_marker 
) [protected, virtual]

Definition at line 267 of file footstep_marker.cpp.

Definition at line 364 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::stackedPosesMarker ( const std_msgs::Header header,
const geometry_msgs::Pose pose 
) [protected, virtual]

Definition at line 960 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::stackFootstepCB ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &  feedback) [protected, virtual]

Definition at line 438 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::stackMarkerPoseService ( jsk_interactive_marker::SetPose::Request &  req,
jsk_interactive_marker::SetPose::Response &  res 
) [protected, virtual]

Definition at line 1227 of file footstep_marker.cpp.

visualization_msgs::Marker jsk_footstep_planner::FootstepMarker::targetArrow ( const std_msgs::Header header,
const geometry_msgs::Pose pose 
) [protected, virtual]

Definition at line 799 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::toggleFootstepMarkerModeService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
) [protected, virtual]

Definition at line 1136 of file footstep_marker.cpp.

void jsk_footstep_planner::FootstepMarker::updateMarkerArray ( const std_msgs::Header header,
const geometry_msgs::Pose pose 
) [protected, virtual]

Definition at line 1014 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::waitForExecuteFootstepService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
) [protected, virtual]

Definition at line 1184 of file footstep_marker.cpp.

bool jsk_footstep_planner::FootstepMarker::waitForFootstepPlanService ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
) [protected, virtual]

Definition at line 1196 of file footstep_marker.cpp.


Member Data Documentation

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jsk_footstep_msgs::Footstep jsk_footstep_planner::FootstepMarker::last_steps_[2] [protected]

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jsk_footstep_msgs::FootstepArray jsk_footstep_planner::FootstepMarker::plan_result_ [protected]

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boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_footstep_planner::FootstepMarker::srv_ [protected]

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


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Jul 19 2017 02:54:29