#include <frame_marker.h>

Inheritance diagram for benchmark_tool::GripperMarker:

Public Types
enum	GripperMarkerState { NOT_TESTED, PROCESSING, REACHABLE, NOT_REACHABLE, IN_COLLISION }
Public Member Functions
const robot_interaction::RobotInteraction::EndEffector	getEndEffector ()
const robot_state::RobotState *	getRobotState ()
const GripperMarkerState &	getState ()
	GripperMarker (const GripperMarker &gripper_marker)
	GripperMarker (const robot_state::RobotState &robot_state, Ogre::SceneNode parent_node, rviz::DisplayContext context, const std::string &name, const std::string &frame_id, const robot_interaction::RobotInteraction::EndEffector &eef, const geometry_msgs::Pose &pose, double scale, const GripperMarkerState &state, bool is_selected=false, bool visible_x=true, bool visible_y=true, bool visible_z=true)
virtual void	select (bool display_gripper_mesh=true)
void	setEndEffector (const robot_interaction::RobotInteraction::EndEffector &eef)
void	setRobotState (const robot_state::RobotState &robot_state)
virtual void	setState (const GripperMarkerState &state)
virtual void	unselect (bool display_gripper_mesh=false)
Protected Member Functions
virtual void	buildFrom (const std::string &name, const std::string &frame_id, const geometry_msgs::Pose &pose, double scale, const std_msgs::ColorRGBA &color)
const float *	stateToColor (const GripperMarkerState &state)
Protected Attributes
bool	display_gripper_mesh_
robot_interaction::RobotInteraction::EndEffector	eef_
const robot_state::RobotState *	robot_state_
GripperMarkerState	state_
Static Protected Attributes
static const float	GOAL_COLLISION_COLOR [4] = { 1.0, 1.0, 0.0, 1.0 }
static const float	GOAL_NOT_REACHABLE_COLOR [4] = { 1.0, 0.0, 0.0, 1.0 }
static const float	GOAL_NOT_TESTED_COLOR [4] = { 0.75, 0.75, 0.75, 1.0 }
static const float	GOAL_PROCESSING_COLOR [4] = { 0.9, 0.9, 0.9, 1.0 }
static const float	GOAL_REACHABLE_COLOR [4] = { 0.0, 1.0, 0.0, 1.0 }

Detailed Description

A special FrameMarker that displays the robot end-effector mesh when selected. It also allows defining different states (rechable, not-reachable, in-collision, not-tested and processing) and will switch the mesh color according to these.

Definition at line 203 of file frame_marker.h.

Member Enumeration Documentation

enum benchmark_tool::GripperMarker::GripperMarkerState

Enumerator:

NOT_TESTED
PROCESSING
REACHABLE
NOT_REACHABLE
IN_COLLISION

Definition at line 206 of file frame_marker.h.

Constructor & Destructor Documentation

benchmark_tool::GripperMarker::GripperMarker ( const GripperMarker & gripper_marker ) [inline]

Copy constructor

Definition at line 209 of file frame_marker.h.

benchmark_tool::GripperMarker::GripperMarker	(	const robot_state::RobotState &	robot_state,
		Ogre::SceneNode *	parent_node,
		rviz::DisplayContext *	context,
		const std::string &	name,
		const std::string &	frame_id,
		const robot_interaction::RobotInteraction::EndEffector &	eef,
		const geometry_msgs::Pose &	pose,
		double	scale,
		const GripperMarkerState &	state,
		bool	is_selected = `false`,
		bool	visible_x = `true`,
		bool	visible_y = `true`,
		bool	visible_z = `true`
	)

Constructor

Parameters:

robot_state	the kinematic state of the robot
parent_node	the Ogre node that will hold this interactive marker
context	the display context
name	the name for the interactive marker
frame_id	the frame_id the interactive marker is given relative to
eef	the robot_interaction end effector description
pose	the desired pose of the coordinate system
scale	the scale of the coordinate system
state	the default state of the GripperMarker
is_selected	whether this frame marker is selected or not by default. When selected, controls are displayed
visible_x,visible_y,visible_z	define the visibility of each axis

Definition at line 326 of file frame_marker.cpp.

Member Function Documentation

void benchmark_tool::GripperMarker::buildFrom	(	const std::string &	name,
		const std::string &	frame_id,
		const geometry_msgs::Pose &	pose,
		double	scale,
		const std_msgs::ColorRGBA &	color
	)		`[protected, virtual]`

Reimplemented from benchmark_tool::FrameMarker.

Definition at line 352 of file frame_marker.cpp.

const robot_interaction::RobotInteraction::EndEffector benchmark_tool::GripperMarker::getEndEffector ( ) [inline]

Definition at line 271 of file frame_marker.h.

const robot_state::RobotState* benchmark_tool::GripperMarker::getRobotState ( ) [inline]

Definition at line 261 of file frame_marker.h.

const GripperMarkerState& benchmark_tool::GripperMarker::getState ( ) [inline]

Definition at line 251 of file frame_marker.h.

void benchmark_tool::GripperMarker::select ( bool display_gripper_mesh = true ) [virtual]

Definition at line 340 of file frame_marker.cpp.

void benchmark_tool::GripperMarker::setEndEffector ( const robot_interaction::RobotInteraction::EndEffector & eef ) [inline]

Definition at line 266 of file frame_marker.h.

void benchmark_tool::GripperMarker::setRobotState ( const robot_state::RobotState & robot_state ) [inline]

Definition at line 256 of file frame_marker.h.

virtual void benchmark_tool::GripperMarker::setState ( const GripperMarkerState & state ) [inline, virtual]

Definition at line 241 of file frame_marker.h.

const float * benchmark_tool::GripperMarker::stateToColor ( const GripperMarkerState & state ) [protected]

Definition at line 477 of file frame_marker.cpp.

void benchmark_tool::GripperMarker::unselect ( bool display_gripper_mesh = false ) [virtual]

Definition at line 346 of file frame_marker.cpp.

Member Data Documentation

bool benchmark_tool::GripperMarker::display_gripper_mesh_ [protected]

Definition at line 291 of file frame_marker.h.

robot_interaction::RobotInteraction::EndEffector benchmark_tool::GripperMarker::eef_ [protected]

Definition at line 289 of file frame_marker.h.

const float benchmark_tool::GripperMarker::GOAL_COLLISION_COLOR = { 1.0, 1.0, 0.0, 1.0 } [static, protected]

Definition at line 281 of file frame_marker.h.

const float benchmark_tool::GripperMarker::GOAL_NOT_REACHABLE_COLOR = { 1.0, 0.0, 0.0, 1.0 } [static, protected]

Definition at line 279 of file frame_marker.h.

const float benchmark_tool::GripperMarker::GOAL_NOT_TESTED_COLOR = { 0.75, 0.75, 0.75, 1.0 } [static, protected]

Definition at line 277 of file frame_marker.h.

const float benchmark_tool::GripperMarker::GOAL_PROCESSING_COLOR = { 0.9, 0.9, 0.9, 1.0 } [static, protected]

Definition at line 278 of file frame_marker.h.

const float benchmark_tool::GripperMarker::GOAL_REACHABLE_COLOR = { 0.0, 1.0, 0.0, 1.0 } [static, protected]

Definition at line 280 of file frame_marker.h.

const robot_state::RobotState* benchmark_tool::GripperMarker::robot_state_ [protected]

Definition at line 288 of file frame_marker.h.

GripperMarkerState benchmark_tool::GripperMarker::state_ [protected]

Definition at line 292 of file frame_marker.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation