plan_execution::PlanWithSensing Class Reference

#include <plan_with_sensing.h>

Classes
class	DynamicReconfigureImpl

Public Member Functions
bool	computePlan (ExecutableMotionPlan &plan, const ExecutableMotionPlanComputationFn &motion_planner, unsigned int max_look_attempts, double max_safe_path_cost)
void	displayCostSources (bool flag)
double	getDiscardOverlappingCostSources () const
unsigned int	getMaxCostSources () const
unsigned int	getMaxLookAttempts () const
double	getMaxSafePathCost () const
const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	getTrajectoryExecutionManager () const
	PlanWithSensing (const trajectory_execution_manager::TrajectoryExecutionManagerPtr &trajectory_execution)
void	setBeforeLookCallback (const boost::function< void()> &callback)
void	setDiscardOverlappingCostSources (double value)
void	setMaxCostSources (unsigned int value)
void	setMaxLookAttempts (unsigned int attempts)
void	setMaxSafePathCost (double max_safe_path_cost)
	~PlanWithSensing ()

Private Member Functions
bool	lookAt (const std::set< collision_detection::CostSource > &cost_sources, const std::string &frame_id)

Private Attributes
boost::function< void()>	before_look_callback_
ros::Publisher	cost_sources_publisher_
unsigned int	default_max_look_attempts_
double	default_max_safe_path_cost_
double	discard_overlapping_cost_sources_
bool	display_cost_sources_
unsigned int	max_cost_sources_
ros::NodeHandle	node_handle_
DynamicReconfigureImpl *	reconfigure_impl_
moveit_sensor_manager::MoveItSensorManagerPtr	sensor_manager_
std::unique_ptr< pluginlib::ClassLoader< moveit_sensor_manager::MoveItSensorManager > >	sensor_manager_loader_
trajectory_execution_manager::TrajectoryExecutionManagerPtr	trajectory_execution_manager_

Detailed Description

Definition at line 54 of file plan_with_sensing.h.

Constructor & Destructor Documentation

plan_execution::PlanWithSensing::PlanWithSensing

(

const trajectory_execution_manager::TrajectoryExecutionManagerPtr &

trajectory_execution

)

Definition at line 73 of file plan_with_sensing.cpp.

plan_execution::PlanWithSensing::~PlanWithSensing

(

)

Definition at line 123 of file plan_with_sensing.cpp.

Member Function Documentation

bool plan_execution::PlanWithSensing::computePlan	(	ExecutableMotionPlan &	plan,
		const ExecutableMotionPlanComputationFn &	motion_planner,
		unsigned int	max_look_attempts,
		double	max_safe_path_cost
	)

Definition at line 139 of file plan_with_sensing.cpp.

void plan_execution::PlanWithSensing::displayCostSources

(

bool

flag

)

Definition at line 128 of file plan_with_sensing.cpp.

double plan_execution::PlanWithSensing::getDiscardOverlappingCostSources ( ) const

inline

Definition at line 98 of file plan_with_sensing.h.

unsigned int plan_execution::PlanWithSensing::getMaxCostSources ( ) const

inline

Definition at line 88 of file plan_with_sensing.h.

unsigned int plan_execution::PlanWithSensing::getMaxLookAttempts ( ) const

inline

Definition at line 83 of file plan_with_sensing.h.

double plan_execution::PlanWithSensing::getMaxSafePathCost ( ) const

inline

Definition at line 68 of file plan_with_sensing.h.

const trajectory_execution_manager::TrajectoryExecutionManagerPtr& plan_execution::PlanWithSensing::getTrajectoryExecutionManager ( ) const

inline

Definition at line 60 of file plan_with_sensing.h.

bool plan_execution::PlanWithSensing::lookAt ( const std::set< collision_detection::CostSource > &  cost_sources, const std::string &  frame_id  )

private

Definition at line 246 of file plan_with_sensing.cpp.

void plan_execution::PlanWithSensing::setBeforeLookCallback ( const boost::function< void()> &  callback )

inline

Definition at line 108 of file plan_with_sensing.h.

void plan_execution::PlanWithSensing::setDiscardOverlappingCostSources ( double  value )

inline

Definition at line 103 of file plan_with_sensing.h.

void plan_execution::PlanWithSensing::setMaxCostSources ( unsigned int  value )

inline

Definition at line 93 of file plan_with_sensing.h.

void plan_execution::PlanWithSensing::setMaxLookAttempts ( unsigned int  attempts )

inline

Definition at line 78 of file plan_with_sensing.h.

void plan_execution::PlanWithSensing::setMaxSafePathCost ( double  max_safe_path_cost )

inline

Definition at line 73 of file plan_with_sensing.h.

Member Data Documentation

boost::function<void()> plan_execution::PlanWithSensing::before_look_callback_

private

Definition at line 132 of file plan_with_sensing.h.

ros::Publisher plan_execution::PlanWithSensing::cost_sources_publisher_

private

Definition at line 130 of file plan_with_sensing.h.

unsigned int plan_execution::PlanWithSensing::default_max_look_attempts_

private

Definition at line 123 of file plan_with_sensing.h.

double plan_execution::PlanWithSensing::default_max_safe_path_cost_

private

Definition at line 124 of file plan_with_sensing.h.

double plan_execution::PlanWithSensing::discard_overlapping_cost_sources_

private

Definition at line 126 of file plan_with_sensing.h.

bool plan_execution::PlanWithSensing::display_cost_sources_

private

Definition at line 129 of file plan_with_sensing.h.

unsigned int plan_execution::PlanWithSensing::max_cost_sources_

private

Definition at line 127 of file plan_with_sensing.h.

ros::NodeHandle plan_execution::PlanWithSensing::node_handle_

private

Definition at line 118 of file plan_with_sensing.h.

DynamicReconfigureImpl* plan_execution::PlanWithSensing::reconfigure_impl_

private

Definition at line 134 of file plan_with_sensing.h.

moveit_sensor_manager::MoveItSensorManagerPtr plan_execution::PlanWithSensing::sensor_manager_

private

Definition at line 122 of file plan_with_sensing.h.

std::unique_ptr<pluginlib::ClassLoader<moveit_sensor_manager::MoveItSensorManager> > plan_execution::PlanWithSensing::sensor_manager_loader_

private

Definition at line 121 of file plan_with_sensing.h.

trajectory_execution_manager::TrajectoryExecutionManagerPtr plan_execution::PlanWithSensing::trajectory_execution_manager_

private

Definition at line 119 of file plan_with_sensing.h.

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

• plan_with_sensing.h
• plan_with_sensing.cpp