planning_scene_utils::TrajectoryData Class Reference

Convenience class wrapping a trajectory message and its meta-data. More...

#include <move_arm_utils.h>

Public Types
enum	MarkerType { VISUAL, COLLISION, PADDED }
Public Member Functions
bool	areCollisionsVisible () const
	Returns true if the collision sphers are being published, and false otherwise.
unsigned int	getBadPoint () const
	Returns the trajectory point where an error occurred.
visualization_msgs::MarkerArray &	getCollisionMarkers ()
	Returns an array of small red spheres associated with each collision point.
const std_msgs::ColorRGBA &	getColor () const
	Returns the color of the markers representing the current state being published in Rviz.
unsigned int	getCurrentPoint () const
	see setCurrentPoint
planning_models::KinematicState *	getCurrentState ()
	Gets the current kinematic state displayed by the planning scene editor. This state is also checked for collisions.
const ros::Duration &	getDuration () const
	For planners, returns the time it took to plan the trajectory, for filters, the time it took to filter it, and for robot monitors, the time it took to execute the trajectory.
const std::string &	getGroupName () const
	Gets the planning group associated with the trajectory (usually right arm or left arm).
unsigned int	getId () const
	Returns the unique Id of the trajectory.
MarkerType	getMarkerType () const
const unsigned int &	getMotionPlanRequestId () const
	See setMotionPlanRequestId.
const std::string &	getName () const
unsigned int	getPlanningScendId () const
RenderType	getRenderType () const
	Gets what mesh to display in RVIZ.
std::string	getSource ()
	Returns the pipeline stage of the trajectory.
trajectory_msgs::JointTrajectory &	getTrajectory ()
	Returns the underlying trajectory message.
size_t	getTrajectorySize () const
	Returns the number of discrete points in the trajectory.
bool	hasRefreshedColors () const
	Returns ture if the refresh counter has been exhausted, and false otherwise.
bool	hasStateChanged () const
	Returns true if the current state has been recently changed, and false otherwise.
void	hide ()
	Shorthand for setVisible(false).
void	hideCollisions ()
	Shorthand for setCollisionsVisible(false).
bool	isPlaying () const
	Returns true if the current state is automatically marching through trajectory points, and false ow.
bool	isVisible () const
	Returns true if the current state is being shown in rviz, and false otherwise.
void	moveThroughTrajectory (int amount)
	Sets the current state of the trajectory to the current trajectory point + amount. Allows for negative values. Does not overshoot the trajectory's end or start.
void	play ()
	Shorthand for setPlaying(true).
void	refreshColors ()
	Sets the refresh_counter and assocated booleans so that the planning scene editor will cease publishing markers for a while, allowing the color of the markers to change.
void	reset ()
	Deletes the kinematic states associated with the trajectory.
void	setBadPoint (unsigned int point)
	Sets the point of the trajectory where an error occurred.
void	setCollisionsVisible (bool shown)
	see areCollisionVisible
void	setColor (const std_msgs::ColorRGBA &color)
	See getColor.
void	setCurrentPoint (unsigned int point)
	Sets the current joint trajectory point displayed in Rviz.
void	setCurrentState (planning_models::KinematicState *state)
	see getCurrentState
void	setDuration (const ros::Duration &duration)
	See getDuration.
void	setGroupName (std::string name)
	Sets the plannign group name associated with the trajectory (usually right arm or left arm).
void	setGroupname (const std::string &group_name)
	Sets the planning group name of the trajectory (usually right arm or left arm).
void	setHasRefreshedColors (bool refresh)
	See hasRefreshedColors.
void	setId (const unsigned int &id)
	Sets the unique Id of the trajectory.
void	setMarkerType (MarkerType mt)
	Sets whether padded trimeshes are to be shown.
void	setMotionPlanRequestId (const unsigned int &Id)
	Sets the unique Id corresponding to the motion plan request associated with this trajectory.
void	setPlanningSceneId (const unsigned int id)
void	setPlaying (bool playing)
	Sets whether the the current state is automatically marching through trajectory points.
void	setRenderType (RenderType renderType)
	Sets what mesh to display in RVIZ.
void	setSource (const std::string &source)
	See getSource.
void	setStateChanged (bool changed)
	See hasStateChanged.
void	setTrajectory (const trajectory_msgs::JointTrajectory &trajectory)
	see getTrajectory
void	setVisible (bool visible)
	See isVisible.
bool	shouldRefreshColors () const
	Returns true if the trajectory's color has changed, and false otherwise.
void	show ()
	Shorthand for setVisible(true).
void	showCollisions ()
	Shorthand for setCollisionsVisible(true).
void	stop ()
	Shorthand for setPlaying(false).
	TrajectoryData (const unsigned int &id, const std::string &source, const std::string &group_name, const trajectory_msgs::JointTrajectory &trajectory)
	TrajectoryData ()
void	updateCollisionMarkers (planning_environment::CollisionModels cm_, MotionPlanRequestData &motionPlanRequest, ros::ServiceClient distance_state_validity_service_client_)
	Checks the current state for collisions, and fills the collision marker array with red spheres for each collision point.
void	updateCurrentState ()
	Sets the joint states of the current state to those specified by the joint trajectory.
Public Attributes
ros::Duration	refresh_timer_
	This counter is exhausted when the trajectory's color has changed.
arm_navigation_msgs::ArmNavigationErrorCodes	trajectory_error_code_
	Corresponds to the planning, filtering, or execution outcome of the trajectory.
Protected Attributes
visualization_msgs::MarkerArray	collision_markers_
bool	collisions_visible_
std_msgs::ColorRGBA	color_
planning_models::KinematicState *	current_state_
unsigned int	current_trajectory_point_
ros::Duration	duration_
std::string	group_name_
bool	has_refreshed_colors_
unsigned int	id_
bool	is_playing_
bool	is_visible_
MarkerType	marker_type_
unsigned int	motion_plan_request_Id_
std::string	name_
unsigned int	planning_scene_id_
RenderType	render_type_
bool	should_refresh_colors_
std::string	source_
bool	state_changed_
trajectory_msgs::JointTrajectory	trajectory_
unsigned int	trajectory_bad_point_

Detailed Description

Convenience class wrapping a trajectory message and its meta-data.

Class TrajectoryData

Definition at line 769 of file move_arm_utils.h.

Member Enumeration Documentation

enum planning_scene_utils::TrajectoryData::MarkerType

Enumerator:

VISUAL
COLLISION
PADDED

Definition at line 773 of file move_arm_utils.h.

Constructor & Destructor Documentation

TrajectoryData::TrajectoryData ( )

Definition at line 108 of file move_arm_utils.cpp.

planning_scene_utils::TrajectoryData::TrajectoryData	(	const unsigned int &	id,
		const std::string &	source,
		const std::string &	group_name,
		const trajectory_msgs::JointTrajectory &	trajectory
	)

Member Function Documentation

bool planning_scene_utils::TrajectoryData::areCollisionsVisible ( ) const [inline]

Returns true if the collision sphers are being published, and false otherwise.

Definition at line 840 of file move_arm_utils.h.

unsigned int planning_scene_utils::TrajectoryData::getBadPoint ( ) const [inline]

Returns the trajectory point where an error occurred.

Definition at line 977 of file move_arm_utils.h.

visualization_msgs::MarkerArray& planning_scene_utils::TrajectoryData::getCollisionMarkers ( ) [inline]

Returns an array of small red spheres associated with each collision point.

Definition at line 834 of file move_arm_utils.h.

const std_msgs::ColorRGBA& planning_scene_utils::TrajectoryData::getColor ( ) const [inline]

Returns the color of the markers representing the current state being published in Rviz.

Definition at line 1061 of file move_arm_utils.h.

unsigned int planning_scene_utils::TrajectoryData::getCurrentPoint ( ) const [inline]

see setCurrentPoint

Definition at line 971 of file move_arm_utils.h.

planning_models::KinematicState* planning_scene_utils::TrajectoryData::getCurrentState ( ) [inline]

Gets the current kinematic state displayed by the planning scene editor. This state is also checked for collisions.

Definition at line 931 of file move_arm_utils.h.

const ros::Duration& planning_scene_utils::TrajectoryData::getDuration ( ) const [inline]

For planners, returns the time it took to plan the trajectory, for filters, the time it took to filter it, and for robot monitors, the time it took to execute the trajectory.

Definition at line 1049 of file move_arm_utils.h.

const std::string& planning_scene_utils::TrajectoryData::getGroupName ( ) const [inline]

Gets the planning group associated with the trajectory (usually right arm or left arm).

Definition at line 1114 of file move_arm_utils.h.

unsigned int planning_scene_utils::TrajectoryData::getId ( ) const [inline]

Returns the unique Id of the trajectory.

Definition at line 1097 of file move_arm_utils.h.

MarkerType planning_scene_utils::TrajectoryData::getMarkerType ( ) const [inline]

Definition at line 1024 of file move_arm_utils.h.

const unsigned int& planning_scene_utils::TrajectoryData::getMotionPlanRequestId ( ) const [inline]

See setMotionPlanRequestId.

Definition at line 950 of file move_arm_utils.h.

const std::string& planning_scene_utils::TrajectoryData::getName ( void ) const [inline]

Definition at line 1109 of file move_arm_utils.h.

unsigned int planning_scene_utils::TrajectoryData::getPlanningScendId ( ) const [inline]

Definition at line 959 of file move_arm_utils.h.

RenderType planning_scene_utils::TrajectoryData::getRenderType ( ) const [inline]

Gets what mesh to display in RVIZ.

Definition at line 902 of file move_arm_utils.h.

std::string planning_scene_utils::TrajectoryData::getSource ( ) [inline]

Returns the pipeline stage of the trajectory.

Definition at line 1073 of file move_arm_utils.h.

trajectory_msgs::JointTrajectory& planning_scene_utils::TrajectoryData::getTrajectory ( ) [inline]

Returns the underlying trajectory message.

Definition at line 1079 of file move_arm_utils.h.

size_t planning_scene_utils::TrajectoryData::getTrajectorySize ( ) const [inline]

Returns the number of discrete points in the trajectory.

Definition at line 864 of file move_arm_utils.h.

bool planning_scene_utils::TrajectoryData::hasRefreshedColors ( ) const [inline]

Returns ture if the refresh counter has been exhausted, and false otherwise.

Definition at line 876 of file move_arm_utils.h.

bool planning_scene_utils::TrajectoryData::hasStateChanged ( ) const [inline]

Returns true if the current state has been recently changed, and false otherwise.

Definition at line 822 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::hide ( ) [inline]

Shorthand for setVisible(false).

Definition at line 1042 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::hideCollisions ( ) [inline]

Shorthand for setCollisionsVisible(false).

Definition at line 858 of file move_arm_utils.h.

bool planning_scene_utils::TrajectoryData::isPlaying ( ) const [inline]

Returns true if the current state is automatically marching through trajectory points, and false ow.

Definition at line 989 of file move_arm_utils.h.

bool planning_scene_utils::TrajectoryData::isVisible ( ) const [inline]

Returns true if the current state is being shown in rviz, and false otherwise.

Definition at line 1013 of file move_arm_utils.h.

void TrajectoryData::moveThroughTrajectory ( int amount )

Sets the current state of the trajectory to the current trajectory point + amount. Allows for negative values. Does not overshoot the trajectory's end or start.

Definition at line 141 of file move_arm_utils.cpp.

void planning_scene_utils::TrajectoryData::play ( ) [inline]

Shorthand for setPlaying(true).

Definition at line 1001 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::refreshColors ( ) [inline]

Sets the refresh_counter and assocated booleans so that the planning scene editor will cease publishing markers for a while, allowing the color of the markers to change.

Definition at line 894 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::reset ( ) [inline]

Deletes the kinematic states associated with the trajectory.

Definition at line 914 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setBadPoint ( unsigned int point ) [inline]

Sets the point of the trajectory where an error occurred.

Definition at line 1120 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setCollisionsVisible ( bool shown ) [inline]

see areCollisionVisible

Definition at line 846 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setColor ( const std_msgs::ColorRGBA & color ) [inline]

See getColor.

Definition at line 1067 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setCurrentPoint ( unsigned int point ) [inline]

Sets the current joint trajectory point displayed in Rviz.

Definition at line 964 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setCurrentState ( planning_models::KinematicState * state ) [inline]

see getCurrentState

Definition at line 937 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setDuration ( const ros::Duration & duration ) [inline]

See getDuration.

Definition at line 1055 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setGroupName ( std::string name ) [inline]

Sets the plannign group name associated with the trajectory (usually right arm or left arm).

Definition at line 1126 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setGroupname ( const std::string & group_name ) [inline]

Sets the planning group name of the trajectory (usually right arm or left arm).

Definition at line 983 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setHasRefreshedColors ( bool refresh ) [inline]

See hasRefreshedColors.

Definition at line 882 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setId ( const unsigned int & id ) [inline]

Sets the unique Id of the trajectory.

Definition at line 1103 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setMarkerType ( MarkerType mt ) [inline]

Sets whether padded trimeshes are to be shown.

Definition at line 1030 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setMotionPlanRequestId ( const unsigned int & Id ) [inline]

Sets the unique Id corresponding to the motion plan request associated with this trajectory.

Definition at line 944 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setPlanningSceneId ( const unsigned int id ) [inline]

Definition at line 955 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setPlaying ( bool playing ) [inline]

Sets whether the the current state is automatically marching through trajectory points.

Definition at line 995 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setRenderType ( RenderType renderType ) [inline]

Sets what mesh to display in RVIZ.

Definition at line 908 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setSource ( const std::string & source ) [inline]

See getSource.

Definition at line 1085 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setStateChanged ( bool changed ) [inline]

See hasStateChanged.

Definition at line 828 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setTrajectory ( const trajectory_msgs::JointTrajectory & trajectory ) [inline]

see getTrajectory

Definition at line 1091 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setVisible ( bool visible ) [inline]

See isVisible.

Definition at line 1019 of file move_arm_utils.h.

bool planning_scene_utils::TrajectoryData::shouldRefreshColors ( ) const [inline]

Returns true if the trajectory's color has changed, and false otherwise.

Definition at line 870 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::show ( ) [inline]

Shorthand for setVisible(true).

Definition at line 1036 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::showCollisions ( ) [inline]

Shorthand for setCollisionsVisible(true).

Definition at line 852 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::stop ( void ) [inline]

Shorthand for setPlaying(false).

Definition at line 1007 of file move_arm_utils.h.

void TrajectoryData::updateCollisionMarkers	(	planning_environment::CollisionModels *	cm_,
		MotionPlanRequestData &	motionPlanRequest,
		ros::ServiceClient *	distance_state_validity_service_client_
	)