move_arm::MoveArm Class Reference

List of all members.

Public Member Functions
bool	configure ()
	MoveArm (const std::string &group_name)
virtual	~MoveArm ()
Private Member Functions
void	addCheckFlags (planning_environment_msgs::GetStateValidity::Request &req, const int &flag)
bool	checkIK (const geometry_msgs::PoseStamped &pose_stamped_msg, const std::string &link_name, sensor_msgs::JointState &solution)
bool	checkJointGoal (motion_planning_msgs::GetMotionPlan::Request &req, motion_planning_msgs::ArmNavigationErrorCodes &error_code)
	Check the joint goal if it is valid.
bool	checkTrajectoryReachesGoal (const trajectory_msgs::JointTrajectory &joint_traj, motion_planning_msgs::ArmNavigationErrorCodes &error_code)
	Checks if the last state in a trajectory actually reaches the desired point.
int	closestStateOnTrajectory (const trajectory_msgs::JointTrajectory &trajectory, const sensor_msgs::JointState &joint_state, unsigned int start, unsigned int end)
bool	computeIK (const geometry_msgs::PoseStamped &pose_stamped_msg, const std::string &link_name, sensor_msgs::JointState &solution)
void	controllerTransitionCallback (JointExecutorActionClient::GoalHandle gh)
bool	convertPoseGoalToJointGoal (motion_planning_msgs::GetMotionPlan::Request &req)
bool	createPlan (motion_planning_msgs::GetMotionPlan::Request &req, motion_planning_msgs::GetMotionPlan::Response &res)
void	discretizeTrajectory (const trajectory_msgs::JointTrajectory &trajectory, trajectory_msgs::JointTrajectory &trajectory_out, const double &trajectory_discretization)
bool	doPrePlanningChecks (motion_planning_msgs::GetMotionPlan::Request &req, motion_planning_msgs::GetMotionPlan::Response &res)
void	execute (const move_arm_msgs::MoveArmGoalConstPtr &goal)
bool	executeCycle (motion_planning_msgs::GetMotionPlan::Request &req)
void	fillTrajectoryMsg (const trajectory_msgs::JointTrajectory &trajectory_in, trajectory_msgs::JointTrajectory &trajectory_out)
bool	filterTrajectory (const trajectory_msgs::JointTrajectory &trajectory_in, trajectory_msgs::JointTrajectory &trajectory_out)
bool	getRobotState (motion_planning_msgs::RobotState &robot_state)
bool	initializeControllerInterface ()
bool	isControllerDone (motion_planning_msgs::ArmNavigationErrorCodes &error_code)
bool	isEnvironmentSafe ()
bool	isExecutionSafe ()
bool	isJointGoal (motion_planning_msgs::GetMotionPlan::Request &req)
bool	isPoseGoal (motion_planning_msgs::GetMotionPlan::Request &req)
bool	isStateValid (const motion_planning_msgs::RobotState &state, motion_planning_msgs::ArmNavigationErrorCodes &error_code, int flag=0)
bool	isStateValidAtGoal (const motion_planning_msgs::RobotState &state, motion_planning_msgs::ArmNavigationErrorCodes &error_code)
bool	isTrajectoryValid (const trajectory_msgs::JointTrajectory &traj, motion_planning_msgs::ArmNavigationErrorCodes &error_code)
void	moveArmGoalToPlannerRequest (const move_arm_msgs::MoveArmGoalConstPtr &goal, motion_planning_msgs::GetMotionPlan::Request &req)
void	printTrajectory (const trajectory_msgs::JointTrajectory &trajectory)
void	publishStats ()
bool	removeCompletedTrajectory (const trajectory_msgs::JointTrajectory &trajectory_in, trajectory_msgs::JointTrajectory &trajectory_out, bool zero_vel_acc)
void	resetStateMachine ()
bool	sendTrajectory (trajectory_msgs::JointTrajectory &current_trajectory)
void	stopMonitoring ()
bool	stopTrajectory ()
void	visualizeAllowedContactRegions (const std::vector< motion_planning_msgs::AllowedContactSpecification > &allowed_contacts)
void	visualizeJointGoal (const trajectory_msgs::JointTrajectory &trajectory)
void	visualizeJointGoal (motion_planning_msgs::GetMotionPlan::Request &req)
void	visualizePlan (const trajectory_msgs::JointTrajectory &trajectory)
Private Attributes
boost::shared_ptr < actionlib::SimpleActionServer < move_arm_msgs::MoveArmAction > >	action_server_
std::vector< std::string >	all_link_names_
ros::Publisher	allowed_contact_regions_publisher_
bool	arm_ik_initialized_
ros::ServiceClient	check_env_safe_client_
ros::ServiceClient	check_execution_safe_client_
ros::ServiceClient	check_plan_validity_client_
ros::ServiceClient	check_state_at_goal_client_
ros::ServiceClient	check_state_validity_client_
JointExecutorActionClient *	controller_action_client_
JointExecutorActionClient::GoalHandle	controller_goal_handle_
ControllerStatus	controller_status_
trajectory_msgs::JointTrajectory	current_trajectory_
ros::Publisher	display_joint_goal_publisher_
ros::Publisher	display_path_publisher_
ros::ServiceClient	filter_trajectory_client_
ros::ServiceClient	fk_client_
ros::ServiceClient	get_group_info_client_
ros::ServiceClient	get_state_client_
std::string	group_
std::vector< std::string >	group_joint_names_
std::vector< std::string >	group_link_names_
boost::shared_ptr < actionlib::SimpleActionClient < move_arm_head_monitor::HeadLookAction > >	head_look_client_
boost::shared_ptr < actionlib::SimpleActionClient < move_arm_head_monitor::HeadMonitorAction > >	head_monitor_client_
std::string	head_monitor_link_
double	head_monitor_link_x_
double	head_monitor_link_y_
double	head_monitor_link_z_
double	head_monitor_max_frequency_
double	head_monitor_time_offset_
double	ik_allowed_time_
ros::ServiceClient	ik_client_
ros::Time	last_monitor_time_
move_arm_msgs::MoveArmFeedback	move_arm_action_feedback_
move_arm_msgs::MoveArmResult	move_arm_action_result_
double	move_arm_frequency_
MoveArmParameters	move_arm_parameters_
move_arm_msgs::MoveArmStatistics	move_arm_stats_
int	num_planning_attempts_
motion_planning_msgs::GetMotionPlan::Request	original_request_
double	pause_allowed_time_
ros::Time	pause_start_time_
ros::NodeHandle	private_handle_
bool	publish_stats_
urdf::Model	robot_model_
	A model of the robot to see which joints wrap around.
bool	robot_model_initialized_
	Flag that tells us if the robot model was initialized successfully.
ros::NodeHandle	root_handle_
MoveArmState	state_
ros::Publisher	stats_publisher_
tf::TransformListener *	tf_
ros::ServiceClient	trajectory_cancel_client_
double	trajectory_discretization_
double	trajectory_filter_allowed_time_
ros::Duration	trajectory_monitoring_duration_
ros::ServiceClient	trajectory_query_client_
ros::ServiceClient	trajectory_start_client_
bool	using_head_monitor_

Detailed Description

Definition at line 137 of file move_arm_simple_action.cpp.

Constructor & Destructor Documentation

move_arm::MoveArm::MoveArm ( const std::string & group_name ) [inline]

Definition at line 141 of file move_arm_simple_action.cpp.

virtual move_arm::MoveArm::~MoveArm ( ) [inline, virtual]

Definition at line 255 of file move_arm_simple_action.cpp.

Member Function Documentation

void move_arm::MoveArm::addCheckFlags	(	planning_environment_msgs::GetStateValidity::Request &	req,
		const int &	flag
	)			`[inline, private]`

Definition at line 925 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::checkIK	(	const geometry_msgs::PoseStamped &	pose_stamped_msg,
		const std::string &	link_name,
		sensor_msgs::JointState &	solution
	)			`[inline, private]`

Definition at line 434 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::checkJointGoal	(	motion_planning_msgs::GetMotionPlan::Request &	req,
		motion_planning_msgs::ArmNavigationErrorCodes &	error_code
	)			`[inline, private]`

Check the joint goal if it is valid.

End Trajectory Filtering State and trajectory validity checks

Definition at line 655 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::checkTrajectoryReachesGoal	(	const trajectory_msgs::JointTrajectory &	joint_traj,
		motion_planning_msgs::ArmNavigationErrorCodes &	error_code
	)			`[inline, private]`

Checks if the last state in a trajectory actually reaches the desired point.

Definition at line 680 of file move_arm_simple_action.cpp.

int move_arm::MoveArm::closestStateOnTrajectory	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const sensor_msgs::JointState &	joint_state,
		unsigned int	start,
		unsigned int	end
	)			`[inline, private]`

Definition at line 511 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::computeIK	(	const geometry_msgs::PoseStamped &	pose_stamped_msg,
		const std::string &	link_name,
		sensor_msgs::JointState &	solution
	)			`[inline, private]`

Definition at line 391 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::configure ( void ) [inline]

Definition at line 259 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::controllerTransitionCallback ( JointExecutorActionClient::GoalHandle gh ) [inline, private]

Definition at line 1161 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::convertPoseGoalToJointGoal ( motion_planning_msgs::GetMotionPlan::Request & req ) [inline, private]

Kinematics

Definition at line 312 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::createPlan	(	motion_planning_msgs::GetMotionPlan::Request &	req,
		motion_planning_msgs::GetMotionPlan::Response &	res
	)			`[inline, private]`

Definition at line 1031 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::discretizeTrajectory	(	const trajectory_msgs::JointTrajectory &	trajectory,
		trajectory_msgs::JointTrajectory &	trajectory_out,
		const double &	trajectory_discretization
	)			`[inline, private]`

Definition at line 868 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::doPrePlanningChecks	(	motion_planning_msgs::GetMotionPlan::Request &	req,
		motion_planning_msgs::GetMotionPlan::Response &	res
	)			`[inline, private]`

Definition at line 983 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::execute ( const move_arm_msgs::MoveArmGoalConstPtr & goal ) [inline, private]

Definition at line 1584 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::executeCycle ( motion_planning_msgs::GetMotionPlan::Request & req ) [inline, private]

Definition at line 1307 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::fillTrajectoryMsg	(	const trajectory_msgs::JointTrajectory &	trajectory_in,
		trajectory_msgs::JointTrajectory &	trajectory_out
	)			`[inline, private]`

Definition at line 1220 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::filterTrajectory	(	const trajectory_msgs::JointTrajectory &	trajectory_in,
		trajectory_msgs::JointTrajectory &	trajectory_out
	)			`[inline, private]`

End Kinematics Trajectory Filtering

Definition at line 477 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::getRobotState ( motion_planning_msgs::RobotState & robot_state ) [inline, private]

Definition at line 937 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::initializeControllerInterface ( ) [inline, private]

End Motion planning Control

Definition at line 1082 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::isControllerDone ( motion_planning_msgs::ArmNavigationErrorCodes & error_code ) [inline, private]

Definition at line 1206 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::isEnvironmentSafe ( ) [inline, private]

Definition at line 700 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::isExecutionSafe ( ) [inline, private]

Definition at line 761 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::isJointGoal ( motion_planning_msgs::GetMotionPlan::Request & req ) [inline, private]

Definition at line 916 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::isPoseGoal ( motion_planning_msgs::GetMotionPlan::Request & req ) [inline, private]

State and trajectory validity checks Helper functions

Definition at line 907 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::isStateValid	(	const motion_planning_msgs::RobotState &	state,
		motion_planning_msgs::ArmNavigationErrorCodes &	error_code,
		int	flag = `0`
	)			`[inline, private]`

Definition at line 828 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::isStateValidAtGoal	(	const motion_planning_msgs::RobotState &	state,
		motion_planning_msgs::ArmNavigationErrorCodes &	error_code
	)			`[inline, private]`

Definition at line 795 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::isTrajectoryValid	(	const trajectory_msgs::JointTrajectory &	traj,
		motion_planning_msgs::ArmNavigationErrorCodes &	error_code
	)			`[inline, private]`

Definition at line 717 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::moveArmGoalToPlannerRequest	(	const move_arm_msgs::MoveArmGoalConstPtr &	goal,
		motion_planning_msgs::GetMotionPlan::Request &	req
	)			`[inline, private]`

End Helper Functions Motion planning

Definition at line 960 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::printTrajectory ( const trajectory_msgs::JointTrajectory & trajectory ) [inline, private]

Definition at line 1675 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::publishStats ( ) [inline, private]

End State machine Visualization and I/O

Definition at line 1656 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::removeCompletedTrajectory	(	const trajectory_msgs::JointTrajectory &	trajectory_in,
		trajectory_msgs::JointTrajectory &	trajectory_out,
		bool	zero_vel_acc
	)			`[inline, private]`

Definition at line 570 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::resetStateMachine ( ) [inline, private]

End Control State machine

Definition at line 1300 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::sendTrajectory ( trajectory_msgs::JointTrajectory & current_trajectory ) [inline, private]

Definition at line 1121 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::stopMonitoring ( ) [inline, private]

Definition at line 1102 of file move_arm_simple_action.cpp.

bool move_arm::MoveArm::stopTrajectory ( ) [inline, private]

Definition at line 1111 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::visualizeAllowedContactRegions ( const std::vector< motion_planning_msgs::AllowedContactSpecification > & allowed_contacts ) [inline, private]

Definition at line 1735 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::visualizeJointGoal ( const trajectory_msgs::JointTrajectory & trajectory ) [inline, private]

Definition at line 1707 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::visualizeJointGoal ( motion_planning_msgs::GetMotionPlan::Request & req ) [inline, private]

Definition at line 1686 of file move_arm_simple_action.cpp.

void move_arm::MoveArm::visualizePlan ( const trajectory_msgs::JointTrajectory & trajectory ) [inline, private]

Definition at line 1722 of file move_arm_simple_action.cpp.