#include <robot_interaction.h>
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typedef ::robot_interaction::EndEffectorInteraction | EndEffector |
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enum | EndEffectorInteractionStyle {
EEF_POSITION_ARROWS = InteractionStyle::POSITION_ARROWS,
EEF_ORIENTATION_CIRCLES = InteractionStyle::ORIENTATION_CIRCLES,
EEF_POSITION_SPHERE = InteractionStyle::POSITION_SPHERE,
EEF_ORIENTATION_SPHERE = InteractionStyle::ORIENTATION_SPHERE,
EEF_POSITION_EEF = InteractionStyle::POSITION_EEF,
EEF_ORIENTATION_EEF = InteractionStyle::ORIENTATION_EEF,
EEF_FIXED = InteractionStyle::FIXED,
EEF_POSITION = InteractionStyle::POSITION,
EEF_ORIENTATION = InteractionStyle::ORIENTATION,
EEF_6DOF = InteractionStyle::SIX_DOF,
EEF_6DOF_SPHERE = InteractionStyle::SIX_DOF_SPHERE,
EEF_POSITION_NOSPHERE = InteractionStyle::POSITION_NOSPHERE,
EEF_ORIENTATION_NOSPHERE = InteractionStyle::ORIENTATION_NOSPHERE,
EEF_6DOF_NOSPHERE = InteractionStyle::SIX_DOF_NOSPHERE
} |
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typedef ::robot_interaction::GenericInteraction | Generic |
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typedef ::robot_interaction::InteractionHandler | InteractionHandler |
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typedef ::robot_interaction::InteractionHandlerPtr | InteractionHandlerPtr |
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typedef ::robot_interaction::JointInteraction | Joint |
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static const std::string | INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic" |
| The topic name on which the internal Interactive Marker Server operates. More...
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void | addEndEffectorMarkers (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, visualization_msgs::InteractiveMarker &im, bool position=true, bool orientation=true) |
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void | addEndEffectorMarkers (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, const geometry_msgs::Pose &offset, visualization_msgs::InteractiveMarker &im, bool position=true, bool orientation=true) |
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void | clearInteractiveMarkersUnsafe () |
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double | computeGroupMarkerSize (const std::string &group) |
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double | computeLinkMarkerSize (const std::string &link) |
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void | computeMarkerPose (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, const robot_state::RobotState &robot_state, geometry_msgs::Pose &pose, geometry_msgs::Pose &control_to_eef_tf) const |
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void | decideActiveEndEffectors (const std::string &group) |
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void | decideActiveEndEffectors (const std::string &group, InteractionStyle::InteractionStyle style) |
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void | decideActiveJoints (const std::string &group) |
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void | moveInteractiveMarker (const std::string name, const geometry_msgs::PoseStampedConstPtr &msg) |
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void | processingThread () |
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void | processInteractiveMarkerFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback) |
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void | registerMoveInteractiveMarkerTopic (const std::string marker_name, const std::string &name) |
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void | subscribeMoveInteractiveMarker (const std::string marker_name, const std::string &name) |
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Definition at line 74 of file robot_interaction.h.
robot_interaction::RobotInteraction::RobotInteraction |
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const robot_model::RobotModelConstPtr & |
kmodel, |
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const std::string & |
ns = "" |
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robot_interaction::RobotInteraction::~RobotInteraction |
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add an interaction. An interaction is a marker that can be used to manipulate the robot state. This function does not add any markers. To add markers for all active interactions call addInteractiveMarkers(). construct - a callback to construct the marker. See comment on InteractiveMarkerConstructorFn above. update - Called when the robot state changes. Updates the marker pose. Optional. See comment on InteractiveMarkerUpdateFn above. process - called when the marker moves. Updates the robot state. See comment on ProcessFeedbackFn above.
Definition at line 100 of file robot_interaction.cpp.
void robot_interaction::RobotInteraction::addEndEffectorMarkers |
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const ::robot_interaction::InteractionHandlerPtr & |
handler, |
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const EndEffectorInteraction & |
eef, |
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visualization_msgs::InteractiveMarker & |
im, |
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bool |
position = true , |
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bool |
orientation = true |
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void robot_interaction::RobotInteraction::addEndEffectorMarkers |
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const ::robot_interaction::InteractionHandlerPtr & |
handler, |
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const EndEffectorInteraction & |
eef, |
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const geometry_msgs::Pose & |
offset, |
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visualization_msgs::InteractiveMarker & |
im, |
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bool |
position = true , |
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bool |
orientation = true |
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void robot_interaction::RobotInteraction::addInteractiveMarkers |
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const ::robot_interaction::InteractionHandlerPtr & |
handler, |
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const double |
marker_scale = 0.0 |
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Add interactive markers for all active interactions. This adds markers just to the one handler. If there are multiple handlers call this for each handler for which you want markers. The markers are not actually added until you call publishInteractiveMarkers().
Definition at line 451 of file robot_interaction.cpp.
void robot_interaction::RobotInteraction::clear |
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void |
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void robot_interaction::RobotInteraction::clearInteractiveMarkers |
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void robot_interaction::RobotInteraction::clearInteractiveMarkersUnsafe |
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double robot_interaction::RobotInteraction::computeGroupMarkerSize |
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const std::string & |
group | ) |
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double robot_interaction::RobotInteraction::computeLinkMarkerSize |
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const std::string & |
link | ) |
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void robot_interaction::RobotInteraction::decideActiveComponents |
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const std::string & |
group | ) |
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Adds an interaction for:
- each end effector in the group that can be controller by IK
- each floating joint
- each planar joint If no end effector exists in the robot then adds an interaction for the last link in the chain. This function does not add any markers. To add markers for all active interactions call addInteractiveMarkers().
Definition at line 85 of file robot_interaction.cpp.
void robot_interaction::RobotInteraction::decideActiveEndEffectors |
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const std::string & |
group | ) |
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void robot_interaction::RobotInteraction::decideActiveJoints |
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const std::string & |
group | ) |
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const std::vector<EndEffectorInteraction>& robot_interaction::RobotInteraction::getActiveEndEffectors |
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const |
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const std::vector<JointInteraction>& robot_interaction::RobotInteraction::getActiveJoints |
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const |
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KinematicOptionsMapPtr robot_interaction::RobotInteraction::getKinematicOptionsMap |
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const robot_model::RobotModelConstPtr& robot_interaction::RobotInteraction::getRobotModel |
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const |
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const std::string& robot_interaction::RobotInteraction::getServerTopic |
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void |
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const |
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void robot_interaction::RobotInteraction::moveInteractiveMarker |
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const std::string |
name, |
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const geometry_msgs::PoseStampedConstPtr & |
msg |
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void robot_interaction::RobotInteraction::processingThread |
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void robot_interaction::RobotInteraction::processInteractiveMarkerFeedback |
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const visualization_msgs::InteractiveMarkerFeedbackConstPtr & |
feedback | ) |
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void robot_interaction::RobotInteraction::publishInteractiveMarkers |
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void robot_interaction::RobotInteraction::registerMoveInteractiveMarkerTopic |
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const std::string |
marker_name, |
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const std::string & |
name |
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bool robot_interaction::RobotInteraction::showingMarkers |
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const ::robot_interaction::InteractionHandlerPtr & |
handler | ) |
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void robot_interaction::RobotInteraction::subscribeMoveInteractiveMarker |
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const std::string |
marker_name, |
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const std::string & |
name |
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void robot_interaction::RobotInteraction::toggleMoveInteractiveMarkerTopic |
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bool |
enable | ) |
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void robot_interaction::RobotInteraction::updateInteractiveMarkers |
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const ::robot_interaction::InteractionHandlerPtr & |
handler | ) |
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std::map<std::string, visualization_msgs::InteractiveMarkerFeedbackConstPtr> robot_interaction::RobotInteraction::feedback_map_ |
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std::map<std::string, ::robot_interaction::InteractionHandlerPtr> robot_interaction::RobotInteraction::handlers_ |
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std::vector<ros::Subscriber> robot_interaction::RobotInteraction::int_marker_move_subscribers_ |
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std::vector<std::string> robot_interaction::RobotInteraction::int_marker_move_topics_ |
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std::vector<std::string> robot_interaction::RobotInteraction::int_marker_names_ |
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const std::string robot_interaction::RobotInteraction::INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic" |
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The topic name on which the internal Interactive Marker Server operates.
Definition at line 86 of file robot_interaction.h.
KinematicOptionsMapPtr robot_interaction::RobotInteraction::kinematic_options_map_ |
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boost::mutex robot_interaction::RobotInteraction::marker_access_lock_ |
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std::unique_ptr<boost::thread> robot_interaction::RobotInteraction::processing_thread_ |
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robot_model::RobotModelConstPtr robot_interaction::RobotInteraction::robot_model_ |
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bool robot_interaction::RobotInteraction::run_processing_thread_ |
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std::map<std::string, std::size_t> robot_interaction::RobotInteraction::shown_markers_ |
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std::string robot_interaction::RobotInteraction::topic_ |
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The documentation for this class was generated from the following files: