planning_environment::EnvironmentServer Class Reference

List of all members.

Public Member Functions
	EnvironmentServer (EnvironmentServerSetup &setup)
virtual	~EnvironmentServer ()
Private Member Functions
void	contactFound (collision_space::EnvironmentModel::Contact &contact)
	The ccost and display arguments should be bound by the caller. This is a callback function that gets called by the planning environment when a collision is found.
int	getCheckFlag (const planning_environment_msgs::GetStateValidity::Request &req)
int	getCheckFlag (const planning_environment_msgs::GetJointTrajectoryValidity::Request &req)
bool	getEnvironmentSafety (planning_environment_msgs::GetEnvironmentSafety::Request &req, planning_environment_msgs::GetEnvironmentSafety::Response &res)
bool	getExecutionSafety (planning_environment_msgs::GetJointTrajectoryValidity::Request &req, planning_environment_msgs::GetJointTrajectoryValidity::Response &res)
bool	getGroupInfo (planning_environment_msgs::GetGroupInfo::Request &req, planning_environment_msgs::GetGroupInfo::Response &res)
bool	getJointsInGroup (planning_environment_msgs::GetJointsInGroup::Request &req, planning_environment_msgs::GetJointsInGroup::Response &res)
bool	getRobotState (planning_environment_msgs::GetRobotState::Request &req, planning_environment_msgs::GetRobotState::Response &res)
bool	getStateValidity (planning_environment_msgs::GetStateValidity::Request &req, planning_environment_msgs::GetStateValidity::Response &res)
bool	getTrajectoryValidity (planning_environment_msgs::GetJointTrajectoryValidity::Request &req, planning_environment_msgs::GetJointTrajectoryValidity::Response &res)
void	jointStateCallback (const sensor_msgs::JointStateConstPtr &joint_state)
void	visualizeAllowedContactRegions (const std::vector< motion_planning_msgs::AllowedContactSpecification > &allowed_contacts)
Private Attributes
bool	allow_valid_collisions_
ros::Publisher	allowed_contact_regions_publisher_
std::vector < collision_space::EnvironmentModel::AllowedContact >	allowed_contacts_
std::vector < planning_environment_msgs::ContactInformation >	contact_information_
ros::ServiceServer	get_env_safety_service_
ros::ServiceServer	get_execution_safety_service_
ros::ServiceServer	get_group_info_service_
ros::ServiceServer	get_joints_in_group_service_
ros::ServiceServer	get_robot_state_service_
ros::ServiceServer	get_state_validity_service_
ros::ServiceServer	get_trajectory_validity_service_
ros::Subscriber	joint_state_subscriber_
planning_environment::PlanningMonitor *	planning_monitor_
ros::NodeHandle	private_handle_
ros::NodeHandle	root_handle_
ros::ServiceServer	set_constraints_service_
EnvironmentServerSetup &	setup_
bool	show_collisions_
tf::TransformListener *	tf_
std::valarray< double >	velocity_history_
unsigned int	velocity_history_index_
ros::Publisher	vis_marker_publisher_

Detailed Description

Definition at line 58 of file environment_server.cpp.

Constructor & Destructor Documentation

planning_environment::EnvironmentServer::EnvironmentServer ( EnvironmentServerSetup & setup ) [inline]

Definition at line 59 of file environment_server.cpp.

virtual planning_environment::EnvironmentServer::~EnvironmentServer ( ) [inline, virtual]

Definition at line 98 of file environment_server.cpp.

Member Function Documentation

void planning_environment::EnvironmentServer::contactFound ( collision_space::EnvironmentModel::Contact & contact ) [inline, private]

The ccost and display arguments should be bound by the caller. This is a callback function that gets called by the planning environment when a collision is found.

Definition at line 107 of file environment_server.cpp.

int planning_environment::EnvironmentServer::getCheckFlag ( const planning_environment_msgs::GetStateValidity::Request & req ) [inline, private]

Definition at line 394 of file environment_server.cpp.

int planning_environment::EnvironmentServer::getCheckFlag ( const planning_environment_msgs::GetJointTrajectoryValidity::Request & req ) [inline, private]

Definition at line 378 of file environment_server.cpp.

bool planning_environment::EnvironmentServer::getEnvironmentSafety	(	planning_environment_msgs::GetEnvironmentSafety::Request &	req,
		planning_environment_msgs::GetEnvironmentSafety::Response &	res
	)			`[inline, private]`

Definition at line 196 of file environment_server.cpp.

bool planning_environment::EnvironmentServer::getExecutionSafety	(	planning_environment_msgs::GetJointTrajectoryValidity::Request &	req,
		planning_environment_msgs::GetJointTrajectoryValidity::Response &	res
	)			`[inline, private]`

Definition at line 321 of file environment_server.cpp.

bool planning_environment::EnvironmentServer::getGroupInfo	(	planning_environment_msgs::GetGroupInfo::Request &	req,
		planning_environment_msgs::GetGroupInfo::Response &	res
	)			`[inline, private]`

Definition at line 225 of file environment_server.cpp.

bool planning_environment::EnvironmentServer::getJointsInGroup	(	planning_environment_msgs::GetJointsInGroup::Request &	req,
		planning_environment_msgs::GetJointsInGroup::Response &	res
	)			`[inline, private]`

Definition at line 210 of file environment_server.cpp.

bool planning_environment::EnvironmentServer::getRobotState	(	planning_environment_msgs::GetRobotState::Request &	req,
		planning_environment_msgs::GetRobotState::Response &	res
	)			`[inline, private]`

Definition at line 203 of file environment_server.cpp.

bool planning_environment::EnvironmentServer::getStateValidity	(	planning_environment_msgs::GetStateValidity::Request &	req,
		planning_environment_msgs::GetStateValidity::Response &	res
	)			`[inline, private]`

Definition at line 286 of file environment_server.cpp.

bool planning_environment::EnvironmentServer::getTrajectoryValidity	(	planning_environment_msgs::GetJointTrajectoryValidity::Request &	req,
		planning_environment_msgs::GetJointTrajectoryValidity::Response &	res
	)			`[inline, private]`

Definition at line 252 of file environment_server.cpp.

void planning_environment::EnvironmentServer::jointStateCallback ( const sensor_msgs::JointStateConstPtr & joint_state ) [inline, private]

Definition at line 408 of file environment_server.cpp.

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

Definition at line 414 of file environment_server.cpp.