A simple interface that adds an interactive marker (to be used in rviz) with two controls to change respectively the shaft position and the stiffness of a qbmove device. More...

#include <qb_move_interactive_interface.h>

Public Member Functions
void	initMarkers (ros::NodeHandle &root_nh, const std::string &device_name, const std::vector< std::string > &joint_names)
	Initialize the `interactive_markers::InteractiveMarkerServer` and the marker displayed in `rviz` to control the shaft position of the qbmove device and its stiffness. More...

	qbMoveInteractive ()
	Start the async spinner and do nothing else. More...

void	setMarkerState (const std::vector< double > &joint_positions)
	Update the stored joint positions with the given values. More...

virtual	~qbMoveInteractive ()
	Stop the async spinner. More...

Protected Member Functions
void	buildCylinder (visualization_msgs::InteractiveMarker &interactive_marker)
	Create a cylinder marker representing the qbmove shaft axis and attach it to the given interactive marker. More...

void	buildMotorControl (visualization_msgs::InteractiveMarker &interactive_marker)
	Add two interactive controls to the given interactive marker. More...

double	computeAngularDistance (const geometry_msgs::Quaternion &to_pose, const geometry_msgs::Quaternion &from_pose)
	Compute the angular distance between current and last orientations. More...

trajectory_msgs::JointTrajectory	computeJointTrajectories (const double &displacement_position, const double &displacement_stiffness)
	Compute a simple joint trajectory from the given displacements in position and orientation. More...

double	computeLinearDistance (const geometry_msgs::Point &to_pose, const geometry_msgs::Point &from_pose)
	Compute the distance along the marker axis between current and last positions. More...

double	getStiffnessFromScale ()

void	interactiveMarkerCallback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	This is the core method of the class, where commands are computed w.r.t. More...

void	setScaleFromStiffness (const double &stiffness_value)
	Set the diameter scale of the marker from the given stiffness value. More...

Protected Attributes
visualization_msgs::InteractiveMarker	controls_

geometry_msgs::Pose	controls_position_old_

geometry_msgs::Pose	controls_position_orig_

visualization_msgs::InteractiveMarker	cylinder_

std::string	device_name_

std::unique_ptr< interactive_markers::InteractiveMarkerServer >	interactive_commands_server_

ros::Publisher	joint_command_pub_

trajectory_msgs::JointTrajectory	joint_command_trajectories_

std::vector< std::string >	joint_names_

std::vector< double >	joint_positions_

ros::AsyncSpinner	spinner_

Detailed Description

A simple interface that adds an interactive marker (to be used in rviz) with two controls to change respectively the shaft position and the stiffness of a qbmove device.

The core features are called in the server callback where feedback from the marker are handled.

See also: interactiveMarkerCallback()

Definition at line 43 of file qb_move_interactive_interface.h.

Constructor & Destructor Documentation

qb_move_interactive_interface::qbMoveInteractive::qbMoveInteractive ( )

inline

Start the async spinner and do nothing else.

The real initialization is done later by initMarkers().

See also: initMarkers()

Definition at line 49 of file qb_move_interactive_interface.h.

virtual qb_move_interactive_interface::qbMoveInteractive::~qbMoveInteractive ( )

inlinevirtual

Stop the async spinner.

Definition at line 57 of file qb_move_interactive_interface.h.

Member Function Documentation

void qb_move_interactive_interface::qbMoveInteractive::buildCylinder ( visualization_msgs::InteractiveMarker & interactive_marker )

inlineprotected

Create a cylinder marker representing the qbmove shaft axis and attach it to the given interactive marker.

Parameters

interactive_marker The Interactive Marker structure to be filled.

Definition at line 128 of file qb_move_interactive_interface.h.

void qb_move_interactive_interface::qbMoveInteractive::buildMotorControl ( visualization_msgs::InteractiveMarker & interactive_marker )

inlineprotected

Add two interactive controls to the given interactive marker.

The first let to rotate the shaft, while the second allow to change the device stiffness. The change in shaft position is clear from the orientation of the flange attached to the qbmove; on the other hand a change in stiffness is represented graphically with a bigger or smaller cylinder, respectively for more and less stiffness.

Parameters

interactive_marker The Interactive Marker structure to be filled.

Definition at line 158 of file qb_move_interactive_interface.h.

double qb_move_interactive_interface::qbMoveInteractive::computeAngularDistance	(	const geometry_msgs::Quaternion &	to_pose,
		const geometry_msgs::Quaternion &	from_pose
	)

inlineprotected

Compute the angular distance between current and last orientations.

Parameters

to_pose	The current orientation of the marker.
from_pose	The last known orientation of the marker.

Returns: The computed angular distance.

Definition at line 180 of file qb_move_interactive_interface.h.

trajectory_msgs::JointTrajectory qb_move_interactive_interface::qbMoveInteractive::computeJointTrajectories	(	const double &	displacement_position,
		const double &	displacement_stiffness
	)

inlineprotected

Compute a simple joint trajectory from the given displacements in position and orientation.

Parameters

displacement_position	The displacement in angular position of the shaft, expressed in radians.
displacement_stiffness	The displacement in stiffness of the device, expressed in [0,1];

Returns: The joint trajectory filled with the proper commands.

Definition at line 208 of file qb_move_interactive_interface.h.

double qb_move_interactive_interface::qbMoveInteractive::computeLinearDistance	(	const geometry_msgs::Point &	to_pose,
		const geometry_msgs::Point &	from_pose
	)

inlineprotected

Compute the distance along the marker axis between current and last positions.

Parameters

to_pose	The current position of the marker.
from_pose	The last known position of the marker.

Returns: The computed distance.

Definition at line 198 of file qb_move_interactive_interface.h.

double qb_move_interactive_interface::qbMoveInteractive::getStiffnessFromScale ( )

inlineprotected

Returns: The stiffness value computed by the diameter scale of the marker.

See also: setScaleFromStiffness()

Definition at line 228 of file qb_move_interactive_interface.h.

void qb_move_interactive_interface::qbMoveInteractive::initMarkers	(	ros::NodeHandle &	root_nh,
		const std::string &	device_name,
		const std::vector< std::string > &	joint_names
	)

inline

Initialize the interactive_markers::InteractiveMarkerServer and the marker displayed in rviz to control the shaft position of the qbmove device and its stiffness.

This method is called by the qbMoveHW during its initialization.

Parameters

root_nh	A NodeHandle in the root of the caller namespace (depends from the one in the hardware interface).
device_name	The unique device name.
joint_names	The vector of the actuated joint names.

See also: buildCylinder(), buildMotorControl()

Definition at line 70 of file qb_move_interactive_interface.h.

void qb_move_interactive_interface::qbMoveInteractive::interactiveMarkerCallback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback )

inlineprotected

This is the core method of the class, where commands are computed w.r.t.

the previous state of the interactive marker and the computed joint trajectory is sent to the low level controller, e.g. the joint trajectory controller of the qbMoveHW.

Parameters

feedback The feedback state of the interactive marker, provided by rviz.

Definition at line 238 of file qb_move_interactive_interface.h.

void qb_move_interactive_interface::qbMoveInteractive::setMarkerState ( const std::vector< double > & joint_positions )

inline

Update the stored joint positions with the given values.

It is aimed to be called when reading HW.

Parameters

joint_positions The vector of the actuated joint positions, basically [shaft_position, stiffness].

Definition at line 105 of file qb_move_interactive_interface.h.

void qb_move_interactive_interface::qbMoveInteractive::setScaleFromStiffness ( const double & stiffness_value )

inlineprotected

Set the diameter scale of the marker from the given stiffness value.

Parameters

stiffness_value The qbmove stiffness value.

See also: getStiffnessFromScale()

Definition at line 277 of file qb_move_interactive_interface.h.

Member Data Documentation

visualization_msgs::InteractiveMarker qb_move_interactive_interface::qbMoveInteractive::controls_

protected

Definition at line 120 of file qb_move_interactive_interface.h.

geometry_msgs::Pose qb_move_interactive_interface::qbMoveInteractive::controls_position_old_

protected

Definition at line 121 of file qb_move_interactive_interface.h.

geometry_msgs::Pose qb_move_interactive_interface::qbMoveInteractive::controls_position_orig_

protected

Definition at line 122 of file qb_move_interactive_interface.h.

visualization_msgs::InteractiveMarker qb_move_interactive_interface::qbMoveInteractive::cylinder_

protected

Definition at line 119 of file qb_move_interactive_interface.h.

std::string qb_move_interactive_interface::qbMoveInteractive::device_name_

protected

Definition at line 116 of file qb_move_interactive_interface.h.

std::unique_ptr<interactive_markers::InteractiveMarkerServer> qb_move_interactive_interface::qbMoveInteractive::interactive_commands_server_

protected

Definition at line 118 of file qb_move_interactive_interface.h.

ros::Publisher qb_move_interactive_interface::qbMoveInteractive::joint_command_pub_

protected

Definition at line 112 of file qb_move_interactive_interface.h.

trajectory_msgs::JointTrajectory qb_move_interactive_interface::qbMoveInteractive::joint_command_trajectories_

protected

Definition at line 113 of file qb_move_interactive_interface.h.

std::vector<std::string> qb_move_interactive_interface::qbMoveInteractive::joint_names_

protected

Definition at line 114 of file qb_move_interactive_interface.h.

std::vector<double> qb_move_interactive_interface::qbMoveInteractive::joint_positions_

protected

Definition at line 115 of file qb_move_interactive_interface.h.

ros::AsyncSpinner qb_move_interactive_interface::qbMoveInteractive::spinner_

protected

Definition at line 111 of file qb_move_interactive_interface.h.

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

qb_move_interactive_interface.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation