Public Member Functions | Private Member Functions | Private Attributes | List of all members
planning_scene_monitor::TrajectoryMonitor Class Reference

Monitors the joint_states topic and tf to record the trajectory of the robot. More...

#include <trajectory_monitor.h>

Public Member Functions

void clearTrajectory ()
 
double getSamplingFrequency () const
 
const robot_trajectory::RobotTrajectorygetTrajectory ()
 
bool isActive () const
 
void setOnStateAddCallback (const TrajectoryStateAddedCallback &callback)
 
void setSamplingFrequency (double sampling_frequency)
 
void startTrajectoryMonitor ()
 
void stopTrajectoryMonitor ()
 
void swapTrajectory (robot_trajectory::RobotTrajectory &other)
 
 TrajectoryMonitor (const CurrentStateMonitorConstPtr &state_monitor, double sampling_frequency=5.0)
 Constructor. More...
 
 ~TrajectoryMonitor ()
 

Private Member Functions

void recordStates ()
 

Private Attributes

CurrentStateMonitorConstPtr current_state_monitor_
 
ros::Time last_recorded_state_time_
 
std::unique_ptr< boost::thread > record_states_thread_
 
double sampling_frequency_
 
TrajectoryStateAddedCallback state_add_callback_
 
robot_trajectory::RobotTrajectory trajectory_
 
ros::Time trajectory_start_time_
 

Detailed Description

Monitors the joint_states topic and tf to record the trajectory of the robot.

Definition at line 55 of file trajectory_monitor.h.

Constructor & Destructor Documentation

planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor ( const CurrentStateMonitorConstPtr &  state_monitor,
double  sampling_frequency = 5.0 
)

Constructor.

Definition at line 43 of file trajectory_monitor.cpp.

planning_scene_monitor::TrajectoryMonitor::~TrajectoryMonitor ( )

Definition at line 52 of file trajectory_monitor.cpp.

Member Function Documentation

void planning_scene_monitor::TrajectoryMonitor::clearTrajectory ( )

Definition at line 90 of file trajectory_monitor.cpp.

double planning_scene_monitor::TrajectoryMonitor::getSamplingFrequency ( ) const
inline

Definition at line 72 of file trajectory_monitor.h.

const robot_trajectory::RobotTrajectory& planning_scene_monitor::TrajectoryMonitor::getTrajectory ( )
inline

Return the current maintained trajectory. This function is not thread safe (hence NOT const), because the trajectory could be modified.

Definition at line 81 of file trajectory_monitor.h.

bool planning_scene_monitor::TrajectoryMonitor::isActive ( ) const

Definition at line 65 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::recordStates ( )
private

Definition at line 100 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::setOnStateAddCallback ( const TrajectoryStateAddedCallback callback)
inline

Definition at line 91 of file trajectory_monitor.h.

void planning_scene_monitor::TrajectoryMonitor::setSamplingFrequency ( double  sampling_frequency)

Definition at line 57 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::startTrajectoryMonitor ( )

Definition at line 70 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::stopTrajectoryMonitor ( )

Definition at line 79 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::swapTrajectory ( robot_trajectory::RobotTrajectory other)
inline

Definition at line 86 of file trajectory_monitor.h.

Member Data Documentation

CurrentStateMonitorConstPtr planning_scene_monitor::TrajectoryMonitor::current_state_monitor_
private

Definition at line 99 of file trajectory_monitor.h.

ros::Time planning_scene_monitor::TrajectoryMonitor::last_recorded_state_time_
private

Definition at line 104 of file trajectory_monitor.h.

std::unique_ptr<boost::thread> planning_scene_monitor::TrajectoryMonitor::record_states_thread_
private

Definition at line 106 of file trajectory_monitor.h.

double planning_scene_monitor::TrajectoryMonitor::sampling_frequency_
private

Definition at line 100 of file trajectory_monitor.h.

TrajectoryStateAddedCallback planning_scene_monitor::TrajectoryMonitor::state_add_callback_
private

Definition at line 107 of file trajectory_monitor.h.

robot_trajectory::RobotTrajectory planning_scene_monitor::TrajectoryMonitor::trajectory_
private

Definition at line 102 of file trajectory_monitor.h.

ros::Time planning_scene_monitor::TrajectoryMonitor::trajectory_start_time_
private

Definition at line 103 of file trajectory_monitor.h.


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


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Jan 15 2018 03:51:19