#include <choreo_core_service.h>

Public Member Functions
	ChoreoCoreService ()

bool	init ()

void	run ()

Private Member Functions
void	adjustSimSpeed (double sim_speed)

int	checkSavedLadderGraphSize (const std::string &filename)

bool	choreoParametersServerCallback (choreo_msgs::ChoreoParameters::Request &req, choreo_msgs::ChoreoParameters::Response &res)

bool	elementNumberRequestServerCallback (choreo_msgs::ElementNumberRequest::Request &req, choreo_msgs::ElementNumberRequest::Response &res)

bool	generateMotionLibrary (const int selected_path_index, choreo_core_service::TrajectoryLibrary &traj_lib)

bool	generatePicknPlaceMotionLibrary ()

ProcessPlanResult	generateProcessPlan (const int &index)

bool	getAvailableProcessPlansCallback (choreo_msgs::GetAvailableProcessPlans::Request &req, choreo_msgs::GetAvailableProcessPlans::Response &res)

bool	loadModelInputParameters (const std::string &filename)

bool	loadOutputSaveDirInputParameters (const std::string &filename)

bool	loadRobotInputParameters (const std::string &filename)

bool	loadTaskSequenceInputParameters (const std::string &filename)

bool	moveToTargetJointPose (std::vector< double > joint_pose)

bool	outputProcessPlansCallback (choreo_msgs::OutputProcessPlans::Request &req, choreo_msgs::OutputProcessPlans::Response &res)

void	processPlanningActionCallback (const choreo_msgs::ProcessPlanningGoalConstPtr &goal)

bool	queryComputationResultCallback (choreo_msgs::QueryComputationRecord::Request &req, choreo_msgs::QueryComputationRecord::Response &res)

void	saveModelInputParameters (const std::string &filename)

void	saveOutputSaveDirInputParameters (const std::string &filename)

void	saveRobotInputParameters (const std::string &filename)

void	saveTaskSequenceInputParameters (const std::string &filename)

void	simulateMotionPlansActionCallback (const choreo_msgs::SimulateMotionPlanGoalConstPtr &goal_in)

void	taskSequencePlanningActionCallback (const choreo_msgs::TaskSequencePlanningGoalConstPtr &goal)

void	taskSequenceProcessingActionCallback (const choreo_msgs::TaskSequenceProcessingGoalConstPtr &goal)

bool	visualizeSelectedPathServerCallback (choreo_msgs::VisualizeSelectedPath::Request &req, choreo_msgs::VisualizeSelectedPath::Response &res)

Private Attributes
choreo_msgs::AssemblySequencePickNPlace	as_pnp_

std::string	assembly_type_

actionlib::SimpleActionClient< choreo_msgs::ProcessExecutionAction >	choreo_exe_client_

ros::ServiceServer	choreo_parameters_server_

choreo_msgs::ModelInputParameters	default_model_input_params_

choreo_msgs::OutputSaveDirInputParameters	default_output_save_dir_input_params_

choreo_msgs::RobotInputParameters	default_robot_input_params_

choreo_msgs::TaskSequenceInputParameters	default_task_sequence_input_params_

ros::ServiceServer	element_number_sequest_server_

std::vector< moveit_msgs::CollisionObject >	env_objs_

ros::ServiceServer	get_available_process_plans_server_

choreo_msgs::ModelInputParameters	model_input_params_

ros::ServiceClient	move_to_pose_client_

ros::NodeHandle	nh_

ros::ServiceServer	output_process_plans_server_

ros::ServiceClient	output_processing_client_

choreo_msgs::OutputSaveDirInputParameters	output_save_dir_input_params_

std::string	param_cache_prefix_

ros::ServiceClient	process_planning_client_

choreo_msgs::ProcessPlanningFeedback	process_planning_feedback_

choreo_msgs::ProcessPlanningResult	process_planning_result_

actionlib::SimpleActionServer< choreo_msgs::ProcessPlanningAction >	process_planning_server_

ros::ServiceServer	query_computation_result_server_

choreo_msgs::RobotInputParameters	robot_input_params_

bool	save_data_

std::string	save_location_

int	selected_task_id_

choreo_msgs::SimulateMotionPlanFeedback	simulate_motion_plan_feedback_

choreo_msgs::SimulateMotionPlanResult	simulate_motion_plan_result_

actionlib::SimpleActionServer< choreo_msgs::SimulateMotionPlanAction >	simulate_motion_plan_server_

std::vector< choreo_msgs::ElementCandidatePoses >	task_sequence_

choreo_msgs::TaskSequenceInputParameters	task_sequence_input_params_

choreo_msgs::TaskSequencePlanningFeedback	task_sequence_planning_feedback_

choreo_msgs::TaskSequencePlanningResult	task_sequence_planning_result_

actionlib::SimpleActionServer< choreo_msgs::TaskSequencePlanningAction >	task_sequence_planning_server_

ros::ServiceClient	task_sequence_planning_srv_client_

choreo_msgs::TaskSequenceProcessingFeedback	task_sequence_processing_feedback_

choreo_msgs::TaskSequenceProcessingResult	task_sequence_processing_result_

actionlib::SimpleActionServer< choreo_msgs::TaskSequenceProcessingAction >	task_sequence_processing_server_

ros::ServiceClient	task_sequence_processing_srv_client_

choreo_core_service::TrajectoryLibrary	trajectory_library_

bool	use_saved_graph_

choreo_visual_tools::ChoreoVisualTools	visual_tools_

ros::ServiceServer	visualize_selected_path_server_

std::string	world_frame_

Detailed Description

Definition at line 47 of file choreo_core_service.h.

Constructor & Destructor Documentation

ChoreoCoreService::ChoreoCoreService ( )

Definition at line 65 of file choreo_core_service.cpp.

Member Function Documentation

void ChoreoCoreService::adjustSimSpeed ( double sim_speed )

private

int ChoreoCoreService::checkSavedLadderGraphSize ( const std::string & filename )

private

Definition at line 267 of file choreo_core_service.cpp.

bool ChoreoCoreService::choreoParametersServerCallback	(	choreo_msgs::ChoreoParameters::Request &	req,
		choreo_msgs::ChoreoParameters::Response &	res
	)

private

Definition at line 283 of file choreo_core_service.cpp.

bool ChoreoCoreService::elementNumberRequestServerCallback	(	choreo_msgs::ElementNumberRequest::Request &	req,
		choreo_msgs::ElementNumberRequest::Response &	res
	)

private

Definition at line 326 of file choreo_core_service.cpp.

bool ChoreoCoreService::generateMotionLibrary	(	const int	selected_path_index,
		choreo_core_service::TrajectoryLibrary &	traj_lib
	)

private

Definition at line 13 of file choreo_core_service_process_planning.cpp.

bool ChoreoCoreService::generatePicknPlaceMotionLibrary ( )

private

ProcessPlanResult ChoreoCoreService::generateProcessPlan ( const int & index )

private

Definition at line 27 of file choreo_core_service_process_planning.cpp.

bool ChoreoCoreService::getAvailableProcessPlansCallback	(	choreo_msgs::GetAvailableProcessPlans::Request &	req,
		choreo_msgs::GetAvailableProcessPlans::Response &	res
	)

private

Definition at line 403 of file choreo_core_service.cpp.

bool ChoreoCoreService::init ( )

Definition at line 80 of file choreo_core_service.cpp.

bool ChoreoCoreService::loadModelInputParameters ( const std::string & filename )

private

Definition at line 165 of file choreo_core_service.cpp.

bool ChoreoCoreService::loadOutputSaveDirInputParameters ( const std::string & filename )

private

Definition at line 244 of file choreo_core_service.cpp.

bool ChoreoCoreService::loadRobotInputParameters ( const std::string & filename )

private

Definition at line 221 of file choreo_core_service.cpp.

bool ChoreoCoreService::loadTaskSequenceInputParameters ( const std::string & filename )

private

Definition at line 198 of file choreo_core_service.cpp.

bool ChoreoCoreService::moveToTargetJointPose ( std::vector< double > joint_pose )

private

Definition at line 117 of file choreo_core_service_process_planning.cpp.

bool ChoreoCoreService::outputProcessPlansCallback	(	choreo_msgs::OutputProcessPlans::Request &	req,
		choreo_msgs::OutputProcessPlans::Response &	res
	)

private

Definition at line 415 of file choreo_core_service.cpp.

void ChoreoCoreService::processPlanningActionCallback ( const choreo_msgs::ProcessPlanningGoalConstPtr & goal )

private

Definition at line 598 of file choreo_core_service.cpp.

bool ChoreoCoreService::queryComputationResultCallback	(	choreo_msgs::QueryComputationRecord::Request &	req,
		choreo_msgs::QueryComputationRecord::Response &	res
	)

private

Definition at line 450 of file choreo_core_service.cpp.

void ChoreoCoreService::run ( )

Definition at line 156 of file choreo_core_service.cpp.

void ChoreoCoreService::saveModelInputParameters ( const std::string & filename )

private

Definition at line 190 of file choreo_core_service.cpp.

void ChoreoCoreService::saveOutputSaveDirInputParameters ( const std::string & filename )

private

Definition at line 259 of file choreo_core_service.cpp.

void ChoreoCoreService::saveRobotInputParameters ( const std::string & filename )

private

Definition at line 236 of file choreo_core_service.cpp.

void ChoreoCoreService::saveTaskSequenceInputParameters ( const std::string & filename )

private

Definition at line 213 of file choreo_core_service.cpp.

void ChoreoCoreService::simulateMotionPlansActionCallback ( const choreo_msgs::SimulateMotionPlanGoalConstPtr & goal_in )

private

Definition at line 712 of file choreo_core_service.cpp.

void ChoreoCoreService::taskSequencePlanningActionCallback ( const choreo_msgs::TaskSequencePlanningGoalConstPtr & goal )

private

Definition at line 548 of file choreo_core_service.cpp.

void ChoreoCoreService::taskSequenceProcessingActionCallback ( const choreo_msgs::TaskSequenceProcessingGoalConstPtr & goal )

private

Definition at line 464 of file choreo_core_service.cpp.

bool ChoreoCoreService::visualizeSelectedPathServerCallback	(	choreo_msgs::VisualizeSelectedPath::Request &	req,
		choreo_msgs::VisualizeSelectedPath::Response &	res
	)

private

Definition at line 374 of file choreo_core_service.cpp.

Member Data Documentation

choreo_msgs::AssemblySequencePickNPlace ChoreoCoreService::as_pnp_

private

Definition at line 170 of file choreo_core_service.h.

std::string ChoreoCoreService::assembly_type_

private

Definition at line 194 of file choreo_core_service.h.

actionlib::SimpleActionClient<choreo_msgs::ProcessExecutionAction> ChoreoCoreService::choreo_exe_client_

private

Definition at line 157 of file choreo_core_service.h.

ros::ServiceServer ChoreoCoreService::choreo_parameters_server_

private

Definition at line 115 of file choreo_core_service.h.

choreo_msgs::ModelInputParameters ChoreoCoreService::default_model_input_params_

private

Definition at line 183 of file choreo_core_service.h.

choreo_msgs::OutputSaveDirInputParameters ChoreoCoreService::default_output_save_dir_input_params_

private

Definition at line 186 of file choreo_core_service.h.

choreo_msgs::RobotInputParameters ChoreoCoreService::default_robot_input_params_

private

Definition at line 185 of file choreo_core_service.h.

choreo_msgs::TaskSequenceInputParameters ChoreoCoreService::default_task_sequence_input_params_

private

Definition at line 184 of file choreo_core_service.h.

ros::ServiceServer ChoreoCoreService::element_number_sequest_server_

private

Definition at line 116 of file choreo_core_service.h.

std::vector<moveit_msgs::CollisionObject> ChoreoCoreService::env_objs_

private

Definition at line 164 of file choreo_core_service.h.

ros::ServiceServer ChoreoCoreService::get_available_process_plans_server_

private

Definition at line 118 of file choreo_core_service.h.

choreo_msgs::ModelInputParameters ChoreoCoreService::model_input_params_

private

Definition at line 178 of file choreo_core_service.h.

ros::ServiceClient ChoreoCoreService::move_to_pose_client_

private

Definition at line 126 of file choreo_core_service.h.

ros::NodeHandle ChoreoCoreService::nh_

private

Definition at line 130 of file choreo_core_service.h.

ros::ServiceServer ChoreoCoreService::output_process_plans_server_

private

Definition at line 119 of file choreo_core_service.h.

ros::ServiceClient ChoreoCoreService::output_processing_client_

private

Definition at line 127 of file choreo_core_service.h.

choreo_msgs::OutputSaveDirInputParameters ChoreoCoreService::output_save_dir_input_params_

private

Definition at line 181 of file choreo_core_service.h.

std::string ChoreoCoreService::param_cache_prefix_

private

Definition at line 191 of file choreo_core_service.h.

ros::ServiceClient ChoreoCoreService::process_planning_client_

private

Definition at line 125 of file choreo_core_service.h.

choreo_msgs::ProcessPlanningFeedback ChoreoCoreService::process_planning_feedback_

private

Definition at line 140 of file choreo_core_service.h.

choreo_msgs::ProcessPlanningResult ChoreoCoreService::process_planning_result_

private

Definition at line 141 of file choreo_core_service.h.

actionlib::SimpleActionServer<choreo_msgs::ProcessPlanningAction> ChoreoCoreService::process_planning_server_

private

Definition at line 139 of file choreo_core_service.h.

ros::ServiceServer ChoreoCoreService::query_computation_result_server_

private

Definition at line 120 of file choreo_core_service.h.

choreo_msgs::RobotInputParameters ChoreoCoreService::robot_input_params_

private

Definition at line 180 of file choreo_core_service.h.

bool ChoreoCoreService::save_data_

private

Definition at line 189 of file choreo_core_service.h.

std::string ChoreoCoreService::save_location_

private

Definition at line 190 of file choreo_core_service.h.

int ChoreoCoreService::selected_task_id_

private

Definition at line 173 of file choreo_core_service.h.

choreo_msgs::SimulateMotionPlanFeedback ChoreoCoreService::simulate_motion_plan_feedback_

private

Definition at line 153 of file choreo_core_service.h.

choreo_msgs::SimulateMotionPlanResult ChoreoCoreService::simulate_motion_plan_result_

private

Definition at line 154 of file choreo_core_service.h.

actionlib::SimpleActionServer<choreo_msgs::SimulateMotionPlanAction> ChoreoCoreService::simulate_motion_plan_server_

private

Definition at line 143 of file choreo_core_service.h.

std::vector<choreo_msgs::ElementCandidatePoses> ChoreoCoreService::task_sequence_

private

Definition at line 167 of file choreo_core_service.h.

choreo_msgs::TaskSequenceInputParameters ChoreoCoreService::task_sequence_input_params_

private

Definition at line 179 of file choreo_core_service.h.

choreo_msgs::TaskSequencePlanningFeedback ChoreoCoreService::task_sequence_planning_feedback_

private

Definition at line 136 of file choreo_core_service.h.

choreo_msgs::TaskSequencePlanningResult ChoreoCoreService::task_sequence_planning_result_

private

Definition at line 137 of file choreo_core_service.h.

actionlib::SimpleActionServer<choreo_msgs::TaskSequencePlanningAction> ChoreoCoreService::task_sequence_planning_server_

private

Definition at line 135 of file choreo_core_service.h.

ros::ServiceClient ChoreoCoreService::task_sequence_planning_srv_client_

private

Definition at line 124 of file choreo_core_service.h.

choreo_msgs::TaskSequenceProcessingFeedback ChoreoCoreService::task_sequence_processing_feedback_

private

Definition at line 132 of file choreo_core_service.h.

choreo_msgs::TaskSequenceProcessingResult ChoreoCoreService::task_sequence_processing_result_

private

Definition at line 133 of file choreo_core_service.h.

actionlib::SimpleActionServer<choreo_msgs::TaskSequenceProcessingAction> ChoreoCoreService::task_sequence_processing_server_

private

Definition at line 131 of file choreo_core_service.h.

ros::ServiceClient ChoreoCoreService::task_sequence_processing_srv_client_

private

Definition at line 123 of file choreo_core_service.h.

choreo_core_service::TrajectoryLibrary ChoreoCoreService::trajectory_library_

private

Definition at line 175 of file choreo_core_service.h.

bool ChoreoCoreService::use_saved_graph_

private

Definition at line 174 of file choreo_core_service.h.

choreo_visual_tools::ChoreoVisualTools ChoreoCoreService::visual_tools_

private

Definition at line 160 of file choreo_core_service.h.

ros::ServiceServer ChoreoCoreService::visualize_selected_path_server_

private

Definition at line 117 of file choreo_core_service.h.

std::string ChoreoCoreService::world_frame_

private

Definition at line 192 of file choreo_core_service.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation