Namespaces
	InteractionStyle

Classes
struct	EndEffectorInteraction

struct	GenericInteraction

class	InteractionHandler

struct	JointInteraction

struct	KinematicOptions

class	KinematicOptionsMap

class	LockedRobotState
	Maintain a RobotState in a multithreaded environment. More...

class	RobotInteraction

Typedefs
typedef boost::function< void(InteractionHandler *, bool)>	InteractionHandlerCallbackFn

typedef boost::function< bool(const robot_state::RobotState &state, visualization_msgs::InteractiveMarker &marker)>	InteractiveMarkerConstructorFn

typedef boost::function< bool(const robot_state::RobotState &, geometry_msgs::Pose &)>	InteractiveMarkerUpdateFn

typedef boost::function< bool(robot_state::RobotState &state, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)>	ProcessFeedbackFn

Functions
void	add6DOFControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)

void	addErrorMarker (visualization_msgs::InteractiveMarker &im)

void	addOrientationControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)

void	addPlanarXYControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)

void	addPositionControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)

void	addTArrowMarker (visualization_msgs::InteractiveMarker &im)

void	addViewPlaneControl (visualization_msgs::InteractiveMarker &int_marker, double radius, const std_msgs::ColorRGBA &color, bool position=true, bool orientation=true)

static std::string	getMarkerName (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef)

static std::string	getMarkerName (const ::robot_interaction::InteractionHandlerPtr &handler, const JointInteraction &vj)

static std::string	getMarkerName (const ::robot_interaction::InteractionHandlerPtr &handler, const GenericInteraction &g)

visualization_msgs::InteractiveMarker	make6DOFMarker (const std::string &name, const geometry_msgs::PoseStamped &stamped, double scale, bool orientation_fixed=false)

visualization_msgs::InteractiveMarker	makeEmptyInteractiveMarker (const std::string &name, const geometry_msgs::PoseStamped &stamped, double scale)

visualization_msgs::InteractiveMarker	makePlanarXYMarker (const std::string &name, const geometry_msgs::PoseStamped &stamped, double scale, bool orientation_fixed=false)

	MOVEIT_CLASS_FORWARD (LockedRobotState)

	MOVEIT_CLASS_FORWARD (InteractionHandler)

	MOVEIT_CLASS_FORWARD (RobotInteraction)

	MOVEIT_CLASS_FORWARD (KinematicOptionsMap)

Variables
static const double	DEFAULT_SCALE = 0.25

static const float	END_EFFECTOR_REACHABLE_COLOR [4] = { 0.2, 1.0, 0.2, 1.0 }

static const float	END_EFFECTOR_UNREACHABLE_COLOR [4] = { 1.0, 0.3, 0.3, 1.0 }

Typedef Documentation

typedef boost::function<void(InteractionHandler*, bool)> robot_interaction::InteractionHandlerCallbackFn

Function type for notifying client of RobotState changes.

This callback function is called by the InteractionHandler::handle* functions, when changes are made to the internal robot state the handler maintains. The handler passes its own pointer as argument to the callback, as well as a boolean flag that indicates whether the error state changed – whether updates to the robot state performed in the InteractionHandler::handle* functions have switched from failing to succeeding or the other way around.

Definition at line 55 of file interaction_handler.h.

typedef boost::function<bool(const robot_state::RobotState& state, visualization_msgs::InteractiveMarker& marker)> robot_interaction::InteractiveMarkerConstructorFn

Type of function for constructing markers. This callback sets up the marker used for an interaction.

Parameters

state	the current state of the robot
marker	the function should fill this in with an InteractiveMarker that will be used to control the interaction.

Returns: true if the function succeeds, false if the function was not able to fill in marker.

Definition at line 90 of file interaction.h.

typedef boost::function<bool(const robot_state::RobotState&, geometry_msgs::Pose&)> robot_interaction::InteractiveMarkerUpdateFn

Type of function for updating marker pose for new state. This callback is called when the robot state has changed. Callback should calculate a new pose for the marker based on the passed in robot state.

Parameters

state	the new state of the robot
pose	the function should fill this in with the new pose of the marker, given the new state of the robot.

Returns: true if the pose was modified, false if no update is needed (i.e. if the pose did not change).

Definition at line 116 of file interaction.h.

typedef boost::function<bool(robot_state::RobotState& state, const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback)> robot_interaction::ProcessFeedbackFn

Type of function for processing marker feedback. This callback function handles feedback for an Interaction's marker. Callback should update the robot state that was passed in according to the new position of the marker.

Parameters

state	the current state of the robot
marker	the function should fill this in with an InteractiveMarker that will be used to control the interaction.

Returns: false if the state was not successfully updated or the new state is somehow invalid or erronious (e.g. in collision). true if everything worked well.

Definition at line 105 of file interaction.h.

Function Documentation

void robot_interaction::add6DOFControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = `false`
	)

Definition at line 167 of file interactive_marker_helpers.cpp.

void robot_interaction::addErrorMarker ( visualization_msgs::InteractiveMarker & im )

Definition at line 110 of file interactive_marker_helpers.cpp.

void robot_interaction::addOrientationControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = `false`
	)

Definition at line 173 of file interactive_marker_helpers.cpp.

void robot_interaction::addPlanarXYControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = `false`
	)

Definition at line 139 of file interactive_marker_helpers.cpp.

void robot_interaction::addPositionControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = `false`
	)

Definition at line 201 of file interactive_marker_helpers.cpp.

void robot_interaction::addTArrowMarker ( visualization_msgs::InteractiveMarker & im )

Definition at line 56 of file interactive_marker_helpers.cpp.

void robot_interaction::addViewPlaneControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		double	radius,
		const std_msgs::ColorRGBA &	color,
		bool	position = `true`,
		bool	orientation = `true`
	)

Definition at line 229 of file interactive_marker_helpers.cpp.

static std::string robot_interaction::getMarkerName	(	const ::robot_interaction::InteractionHandlerPtr &	handler,
		const EndEffectorInteraction &	eef
	)

inlinestatic

Definition at line 433 of file robot_interaction.cpp.

static std::string robot_interaction::getMarkerName	(	const ::robot_interaction::InteractionHandlerPtr &	handler,
		const JointInteraction &	vj
	)

inlinestatic

Definition at line 439 of file robot_interaction.cpp.

static std::string robot_interaction::getMarkerName	(	const ::robot_interaction::InteractionHandlerPtr &	handler,
		const GenericInteraction &	g
	)

inlinestatic

Definition at line 445 of file robot_interaction.cpp.

visualization_msgs::InteractiveMarker robot_interaction::make6DOFMarker	(	const std::string &	name,
		const geometry_msgs::PoseStamped &	stamped,
		double	scale,
		bool	orientation_fixed = `false`
	)

Definition at line 266 of file interactive_marker_helpers.cpp.

visualization_msgs::InteractiveMarker robot_interaction::makeEmptyInteractiveMarker	(	const std::string &	name,
		const geometry_msgs::PoseStamped &	stamped,
		double	scale
	)

Definition at line 44 of file interactive_marker_helpers.cpp.

visualization_msgs::InteractiveMarker robot_interaction::makePlanarXYMarker	(	const std::string &	name,
		const geometry_msgs::PoseStamped &	stamped,
		double	scale,
		bool	orientation_fixed = `false`
	)

Definition at line 257 of file interactive_marker_helpers.cpp.

robot_interaction::MOVEIT_CLASS_FORWARD ( LockedRobotState )

robot_interaction::MOVEIT_CLASS_FORWARD ( InteractionHandler )

robot_interaction::MOVEIT_CLASS_FORWARD ( RobotInteraction )

robot_interaction::MOVEIT_CLASS_FORWARD ( KinematicOptionsMap )

Variable Documentation

const double robot_interaction::DEFAULT_SCALE = 0.25

static

Definition at line 114 of file robot_interaction.cpp.

const float robot_interaction::END_EFFECTOR_REACHABLE_COLOR[4] = { 0.2, 1.0, 0.2, 1.0 }

static

Definition at line 60 of file robot_interaction.cpp.

const float robot_interaction::END_EFFECTOR_UNREACHABLE_COLOR[4] = { 1.0, 0.3, 0.3, 1.0 }

static

Definition at line 59 of file robot_interaction.cpp.

Namespaces

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation