ROSServer Class Reference

List of all members.

Public Member Functions
void	_AddModuleWorker (int &retval, ModuleBasePtr module, const string &args)
virtual void	_threadrosfn ()
virtual void	_WorkerThread ()
	worker thread called from the main environment thread
virtual void	AddWorker (const boost::function< void()> &fn, bool bWait=true)
bool	body_destroy_srv (openraveros::body_destroy::Request &req, openraveros::body_destroy::Response &res)
bool	body_enable_srv (openraveros::body_enable::Request &req, openraveros::body_enable::Response &res)
bool	body_getaabb_srv (openraveros::body_getaabb::Request &req, openraveros::body_getaabb::Response &res)
bool	body_getaabbs_srv (openraveros::body_getaabbs::Request &req, openraveros::body_getaabbs::Response &res)
bool	body_getdof_srv (openraveros::body_getdof::Request &req, openraveros::body_getdof::Response &res)
bool	body_getjointvalues_srv (openraveros::body_getjointvalues::Request &req, openraveros::body_getjointvalues::Response &res)
bool	body_setjointvalues_srv (openraveros::body_setjointvalues::Request &req, openraveros::body_setjointvalues::Response &res)
bool	body_settransform_srv (openraveros::body_settransform::Request &req, openraveros::body_settransform::Response &res)
virtual void	Destroy ()
bool	env_checkcollision_srv (openraveros::env_checkcollision::Request &req, openraveros::env_checkcollision::Response &res)
bool	env_closefigures_srv (openraveros::env_closefigures::Request &req, openraveros::env_closefigures::Response &res)
bool	env_createbody_srv (openraveros::env_createbody::Request &req, openraveros::env_createbody::Response &res)
bool	env_createmodule_srv (openraveros::env_createmodule::Request &req, openraveros::env_createmodule::Response &res)
bool	env_createplanner_srv (openraveros::env_createplanner::Request &req, openraveros::env_createplanner::Response &res)
bool	env_createrobot_srv (openraveros::env_createrobot::Request &req, openraveros::env_createrobot::Response &res)
bool	env_destroymodule_srv (openraveros::env_destroymodule::Request &req, openraveros::env_destroymodule::Response &res)
bool	env_getbodies_srv (openraveros::env_getbodies::Request &req, openraveros::env_getbodies::Response &res)
bool	env_getbody_srv (openraveros::env_getbody::Request &req, openraveros::env_getbody::Response &res)
bool	env_getrobots_srv (openraveros::env_getrobots::Request &req, openraveros::env_getrobots::Response &res)
bool	env_loadplugin_srv (openraveros::env_loadplugin::Request &req, openraveros::env_loadplugin::Response &res)
bool	env_loadscene_srv (openraveros::env_loadscene::Request &req, openraveros::env_loadscene::Response &res)
bool	env_plot_srv (openraveros::env_plot::Request &req, openraveros::env_plot::Response &res)
bool	env_raycollision_srv (openraveros::env_raycollision::Request &req, openraveros::env_raycollision::Response &res)
bool	env_set_srv (openraveros::env_set::Request &req, openraveros::env_set::Response &res)
bool	env_triangulate_srv (openraveros::env_triangulate::Request &req, openraveros::env_triangulate::Response &res)
bool	env_wait_srv (openraveros::env_wait::Request &req, openraveros::env_wait::Response &res)
virtual int	main (const std::string &args)
bool	module_sendcommand_srv (openraveros::module_sendcommand::Request &req, openraveros::module_sendcommand::Response &res)
bool	planner_init_srv (openraveros::planner_init::Request &req, openraveros::planner_init::Response &res)
bool	planner_plan_srv (openraveros::planner_plan::Request &req, openraveros::planner_plan::Response &res)
virtual void	Reset ()
bool	robot_controllersend_srv (openraveros::robot_controllersend::Request &req, openraveros::robot_controllersend::Response &res)
bool	robot_controllerset_srv (openraveros::robot_controllerset::Request &req, openraveros::robot_controllerset::Response &res)
bool	robot_getactivevalues_srv (openraveros::robot_getactivevalues::Request &req, openraveros::robot_getactivevalues::Response &res)
bool	robot_sensorgetdata_srv (openraveros::robot_sensorgetdata::Request &req, openraveros::robot_sensorgetdata::Response &res)
bool	robot_sensorsend_srv (openraveros::robot_sensorsend::Request &req, openraveros::robot_sensorsend::Response &res)
bool	robot_setactivedofs_srv (openraveros::robot_setactivedofs::Request &req, openraveros::robot_setactivedofs::Response &res)
bool	robot_setactivemanipulator_srv (openraveros::robot_setactivemanipulator::Request &req, openraveros::robot_setactivemanipulator::Response &res)
bool	robot_setactivevalues_srv (openraveros::robot_setactivevalues::Request &req, openraveros::robot_setactivevalues::Response &res)
bool	robot_starttrajectory_srv (openraveros::robot_starttrajectory::Request &req, openraveros::robot_starttrajectory::Response &res)
	ROSServer (EnvironmentBasePtr penv, std::istream &sinput)
bool	SetCollisionChecker (const string &collisionchecker)
bool	SetPhysicsEngine (const string &physicsengine)
bool	SetViewer (const string &viewer)
virtual void	ViewerThread (const string &strviewer)
	viewer thread assuming you can create different viewers in their own therads
virtual	~ROSServer ()
Private Member Functions
void	_FromROSActiveDOFs (RobotBasePtr probot, const openraveros::ActiveDOFs &active)
TransformMatrix	_FromROSAffineTransform (const openraveros::AffineTransformMatrix &am)
KinBodyPtr	_FromROSBody (int bodyid)
void	_FromROSConfigurationSpecification (ConfigurationSpecification &spec, const openraveros::ConfigurationSpecification &rosspec)
RobotBasePtr	_FromROSRobot (int robotid)
TrajectoryBasePtr	_FromROSTrajectory (const openraveros::Trajectory &rostraj)
void	_GetROSActiveDOFs (RobotBaseConstPtr probot, openraveros::ActiveDOFs &active)
openraveros::AffineTransformMatrix	_GetROSAffineIdentity ()
openraveros::AffineTransformMatrix	_GetROSAffineTransform (const TransformMatrix &tm)
void	_GetROSBodyInfo (KinBodyConstPtr pbody, openraveros::BodyInfo &info, uint32_t options)
void	_GetROSConfigurationSpecification (openraveros::ConfigurationSpecification &rosspec, const ConfigurationSpecification &spec)
void	_GetROSRobotInfo (RobotBasePtr probot, openraveros::RobotInfo &info, uint32_t options)
void	_GetROSTrajectory (openraveros::Trajectory &rostraj, TrajectoryBaseConstPtr traj)
boost::shared_ptr< ROSServer >	shared_server ()
boost::shared_ptr< ROSServer const >	shared_server_const () const
Private Attributes
bool	_bDestroyThreads
bool	_bWorking
boost::condition	_condHasWork
boost::condition	_conditionViewer
boost::condition	_conditionWorkers
float	_fSimulationTimestep
int	_iWorkerId
list< boost::function< void()> >	_listWorkers
map< int, GraphHandlePtr >	_mapFigureIds
map< int, ModuleBasePtr >	_mapmodules
map< int, PlannerBasePtr >	_mapplanners
std::map< std::string, ros::ServiceServer >	_mapservices
boost::mutex	_mutexModules
boost::mutex	_mutexViewer
boost::mutex	_mutexWorker
int	_nNextFigureId
int	_nNextModuleId
int	_nNextPlannerId
ViewerBasePtr	_pviewer
	viewer control variables
boost::shared_ptr < ros::NodeHandle >	_ros
boost::function< bool(const string &, const string &)>	_setviewer
boost::thread	_threadros
boost::thread	_threadviewer
boost::thread	_workerthread
	workers

---

Detailed Description

Definition at line 16 of file rosserver.cpp.

---

Constructor & Destructor Documentation

ROSServer::ROSServer	(	EnvironmentBasePtr	penv,
		std::istream &	sinput
	)		[inline]

Definition at line 26 of file rosserver.cpp.

virtual ROSServer::~ROSServer

(

)

[inline, virtual]

Definition at line 33 of file rosserver.cpp.

---

Member Function Documentation

void ROSServer::_AddModuleWorker	(	int &	retval,
		ModuleBasePtr	module,
		const string &	args
	)		[inline]

Definition at line 561 of file rosserver.cpp.

void ROSServer::_FromROSActiveDOFs	(	RobotBasePtr	probot,
		const openraveros::ActiveDOFs &	active
	)		[inline, private]

Definition at line 1296 of file rosserver.cpp.

TransformMatrix ROSServer::_FromROSAffineTransform

(

const openraveros::AffineTransformMatrix &

am

)

[inline, private]

Definition at line 1375 of file rosserver.cpp.

KinBodyPtr ROSServer::_FromROSBody

(

int

bodyid

)

[inline, private]

Definition at line 1318 of file rosserver.cpp.

void ROSServer::_FromROSConfigurationSpecification	(	ConfigurationSpecification &	spec,
		const openraveros::ConfigurationSpecification &	rosspec
	)		[inline, private]

Definition at line 1337 of file rosserver.cpp.

RobotBasePtr ROSServer::_FromROSRobot

(

int

robotid

)

[inline, private]

Definition at line 1310 of file rosserver.cpp.

TrajectoryBasePtr ROSServer::_FromROSTrajectory

(

const openraveros::Trajectory &

rostraj

)

[inline, private]

Definition at line 1348 of file rosserver.cpp.

void ROSServer::_GetROSActiveDOFs	(	RobotBaseConstPtr	probot,
		openraveros::ActiveDOFs &	active
	)		[inline, private]

Definition at line 1301 of file rosserver.cpp.

openraveros::AffineTransformMatrix ROSServer::_GetROSAffineIdentity

(

)

[inline, private]

Definition at line 1385 of file rosserver.cpp.

openraveros::AffineTransformMatrix ROSServer::_GetROSAffineTransform

(

const TransformMatrix &

tm

)

[inline, private]

Definition at line 1365 of file rosserver.cpp.

void ROSServer::_GetROSBodyInfo	(	KinBodyConstPtr	pbody,
		openraveros::BodyInfo &	info,
		uint32_t	options
	)		[inline, private]

Definition at line 1394 of file rosserver.cpp.

void ROSServer::_GetROSConfigurationSpecification	(	openraveros::ConfigurationSpecification &	rosspec,
		const ConfigurationSpecification &	spec
	)		[inline, private]

Definition at line 1326 of file rosserver.cpp.

void ROSServer::_GetROSRobotInfo	(	RobotBasePtr	probot,
		openraveros::RobotInfo &	info,
		uint32_t	options
	)		[inline, private]

Definition at line 1441 of file rosserver.cpp.

void ROSServer::_GetROSTrajectory	(	openraveros::Trajectory &	rostraj,
		TrajectoryBaseConstPtr	traj
	)		[inline, private]

Definition at line 1358 of file rosserver.cpp.

virtual void ROSServer::_threadrosfn

(

)

[inline, virtual]

Definition at line 154 of file rosserver.cpp.

virtual void ROSServer::_WorkerThread

(

)

[inline, virtual]

worker thread called from the main environment thread

Definition at line 163 of file rosserver.cpp.

virtual void ROSServer::AddWorker	(	const boost::function< void()> &	fn,
		bool	bWait = true
	)		[inline, virtual]

Definition at line 206 of file rosserver.cpp.

bool ROSServer::body_destroy_srv	(	openraveros::body_destroy::Request &	req,
		openraveros::body_destroy::Response &	res
	)		[inline]

Definition at line 300 of file rosserver.cpp.

bool ROSServer::body_enable_srv	(	openraveros::body_enable::Request &	req,
		openraveros::body_enable::Response &	res
	)		[inline]

Definition at line 307 of file rosserver.cpp.

bool ROSServer::body_getaabb_srv	(	openraveros::body_getaabb::Request &	req,
		openraveros::body_getaabb::Response &	res
	)		[inline]

Definition at line 315 of file rosserver.cpp.

bool ROSServer::body_getaabbs_srv	(	openraveros::body_getaabbs::Request &	req,
		openraveros::body_getaabbs::Response &	res
	)		[inline]

Definition at line 325 of file rosserver.cpp.

bool ROSServer::body_getdof_srv	(	openraveros::body_getdof::Request &	req,
		openraveros::body_getdof::Response &	res
	)		[inline]

Definition at line 339 of file rosserver.cpp.

bool ROSServer::body_getjointvalues_srv	(	openraveros::body_getjointvalues::Request &	req,
		openraveros::body_getjointvalues::Response &	res
	)		[inline]

Definition at line 347 of file rosserver.cpp.

bool ROSServer::body_setjointvalues_srv	(	openraveros::body_setjointvalues::Request &	req,
		openraveros::body_setjointvalues::Response &	res
	)		[inline]

Definition at line 373 of file rosserver.cpp.

bool ROSServer::body_settransform_srv	(	openraveros::body_settransform::Request &	req,
		openraveros::body_settransform::Response &	res
	)		[inline]

Definition at line 416 of file rosserver.cpp.

virtual void ROSServer::Destroy

(

)

[inline, virtual]

Definition at line 37 of file rosserver.cpp.

bool ROSServer::env_checkcollision_srv	(	openraveros::env_checkcollision::Request &	req,
		openraveros::env_checkcollision::Response &	res
	)		[inline]

Definition at line 432 of file rosserver.cpp.

bool ROSServer::env_closefigures_srv	(	openraveros::env_closefigures::Request &	req,
		openraveros::env_closefigures::Response &	res
	)		[inline]

Definition at line 513 of file rosserver.cpp.

bool ROSServer::env_createbody_srv	(	openraveros::env_createbody::Request &	req,
		openraveros::env_createbody::Response &	res
	)		[inline]

Definition at line 529 of file rosserver.cpp.

bool ROSServer::env_createmodule_srv	(	openraveros::env_createmodule::Request &	req,
		openraveros::env_createmodule::Response &	res
	)		[inline]

Definition at line 566 of file rosserver.cpp.

bool ROSServer::env_createplanner_srv	(	openraveros::env_createplanner::Request &	req,
		openraveros::env_createplanner::Response &	res
	)		[inline]

Definition at line 550 of file rosserver.cpp.

bool ROSServer::env_createrobot_srv	(	openraveros::env_createrobot::Request &	req,
		openraveros::env_createrobot::Response &	res
	)		[inline]

Definition at line 603 of file rosserver.cpp.

bool ROSServer::env_destroymodule_srv	(	openraveros::env_destroymodule::Request &	req,
		openraveros::env_destroymodule::Response &	res
	)		[inline]

Definition at line 623 of file rosserver.cpp.

bool ROSServer::env_getbodies_srv	(	openraveros::env_getbodies::Request &	req,
		openraveros::env_getbodies::Response &	res
	)		[inline]

Definition at line 640 of file rosserver.cpp.

bool ROSServer::env_getbody_srv	(	openraveros::env_getbody::Request &	req,
		openraveros::env_getbody::Response &	res
	)		[inline]

Definition at line 671 of file rosserver.cpp.

bool ROSServer::env_getrobots_srv	(	openraveros::env_getrobots::Request &	req,
		openraveros::env_getrobots::Response &	res
	)		[inline]

Definition at line 680 of file rosserver.cpp.

bool ROSServer::env_loadplugin_srv	(	openraveros::env_loadplugin::Request &	req,
		openraveros::env_loadplugin::Response &	res
	)		[inline]

Definition at line 712 of file rosserver.cpp.

bool ROSServer::env_loadscene_srv	(	openraveros::env_loadscene::Request &	req,
		openraveros::env_loadscene::Response &	res
	)		[inline]

Definition at line 718 of file rosserver.cpp.

bool ROSServer::env_plot_srv	(	openraveros::env_plot::Request &	req,
		openraveros::env_plot::Response &	res
	)		[inline]

Definition at line 728 of file rosserver.cpp.

bool ROSServer::env_raycollision_srv	(	openraveros::env_raycollision::Request &	req,
		openraveros::env_raycollision::Response &	res
	)		[inline]

Definition at line 789 of file rosserver.cpp.

bool ROSServer::env_set_srv	(	openraveros::env_set::Request &	req,
		openraveros::env_set::Response &	res
	)		[inline]

Definition at line 860 of file rosserver.cpp.

bool ROSServer::env_triangulate_srv	(	openraveros::env_triangulate::Request &	req,
		openraveros::env_triangulate::Response &	res
	)		[inline]

Definition at line 926 of file rosserver.cpp.

bool ROSServer::env_wait_srv	(	openraveros::env_wait::Request &	req,
		openraveros::env_wait::Response &	res
	)		[inline]

Definition at line 962 of file rosserver.cpp.

virtual int ROSServer::main

(

const std::string &

args

)

[inline, virtual]

Definition at line 85 of file rosserver.cpp.

bool ROSServer::module_sendcommand_srv	(	openraveros::module_sendcommand::Request &	req,
		openraveros::module_sendcommand::Response &	res
	)		[inline]

Definition at line 1026 of file rosserver.cpp.

bool ROSServer::planner_init_srv	(	openraveros::planner_init::Request &	req,
		openraveros::planner_init::Response &	res
	)		[inline]

Definition at line 989 of file rosserver.cpp.

bool ROSServer::planner_plan_srv	(	openraveros::planner_plan::Request &	req,
		openraveros::planner_plan::Response &	res
	)		[inline]

Definition at line 1008 of file rosserver.cpp.

virtual void ROSServer::Reset

(

)

[inline, virtual]

Definition at line 56 of file rosserver.cpp.

bool ROSServer::robot_controllersend_srv	(	openraveros::robot_controllersend::Request &	req,
		openraveros::robot_controllersend::Response &	res
	)		[inline]

Definition at line 1048 of file rosserver.cpp.

bool ROSServer::robot_controllerset_srv	(	openraveros::robot_controllerset::Request &	req,
		openraveros::robot_controllerset::Response &	res
	)		[inline]

Definition at line 1065 of file rosserver.cpp.

bool ROSServer::robot_getactivevalues_srv	(	openraveros::robot_getactivevalues::Request &	req,
		openraveros::robot_getactivevalues::Response &	res
	)		[inline]

Definition at line 1076 of file rosserver.cpp.

bool ROSServer::robot_sensorgetdata_srv	(	openraveros::robot_sensorgetdata::Request &	req,
		openraveros::robot_sensorgetdata::Response &	res
	)		[inline]

Definition at line 1104 of file rosserver.cpp.

bool ROSServer::robot_sensorsend_srv	(	openraveros::robot_sensorsend::Request &	req,
		openraveros::robot_sensorsend::Response &	res
	)		[inline]

Definition at line 1213 of file rosserver.cpp.

bool ROSServer::robot_setactivedofs_srv	(	openraveros::robot_setactivedofs::Request &	req,
		openraveros::robot_setactivedofs::Response &	res
	)		[inline]

Definition at line 1231 of file rosserver.cpp.

bool ROSServer::robot_setactivemanipulator_srv	(	openraveros::robot_setactivemanipulator::Request &	req,
		openraveros::robot_setactivemanipulator::Response &	res
	)		[inline]

Definition at line 1239 of file rosserver.cpp.

bool ROSServer::robot_setactivevalues_srv	(	openraveros::robot_setactivevalues::Request &	req,
		openraveros::robot_setactivevalues::Response &	res
	)		[inline]

Definition at line 1247 of file rosserver.cpp.

bool ROSServer::robot_starttrajectory_srv	(	openraveros::robot_starttrajectory::Request &	req,
		openraveros::robot_starttrajectory::Response &	res
	)		[inline]

Definition at line 1288 of file rosserver.cpp.

bool ROSServer::SetCollisionChecker

(

const string &

collisionchecker

)

[inline]

Definition at line 255 of file rosserver.cpp.

bool ROSServer::SetPhysicsEngine

(

const string &

physicsengine

)

[inline]

Definition at line 245 of file rosserver.cpp.

bool ROSServer::SetViewer

(

const string &

viewer

)

[inline]

Definition at line 265 of file rosserver.cpp.

boost::shared_ptr<ROSServer> ROSServer::shared_server

(

)

[inline, private]

Definition at line 18 of file rosserver.cpp.

boost::shared_ptr<ROSServer const> ROSServer::shared_server_const

(

)

const [inline, private]

Definition at line 21 of file rosserver.cpp.

virtual void ROSServer::ViewerThread

(

const string &

strviewer

)

[inline, virtual]

viewer thread assuming you can create different viewers in their own therads

Definition at line 225 of file rosserver.cpp.

---

Member Data Documentation

bool ROSServer::_bDestroyThreads [private]

Definition at line 1508 of file rosserver.cpp.

bool ROSServer::_bWorking [private]

Definition at line 1508 of file rosserver.cpp.

boost::condition ROSServer::_condHasWork [private]

Definition at line 1520 of file rosserver.cpp.

boost::condition ROSServer::_conditionViewer [private]

Definition at line 1514 of file rosserver.cpp.

boost::condition ROSServer::_conditionWorkers [private]

Definition at line 1520 of file rosserver.cpp.

float ROSServer::_fSimulationTimestep [private]

Definition at line 1507 of file rosserver.cpp.

int ROSServer::_iWorkerId [private]

Definition at line 1521 of file rosserver.cpp.

list< boost::function<void()> > ROSServer::_listWorkers [private]

Definition at line 1519 of file rosserver.cpp.

map<int, GraphHandlePtr > ROSServer::_mapFigureIds [private]

Definition at line 1505 of file rosserver.cpp.

map<int, ModuleBasePtr > ROSServer::_mapmodules [private]

Definition at line 1504 of file rosserver.cpp.

map<int, PlannerBasePtr > ROSServer::_mapplanners [private]

Definition at line 1503 of file rosserver.cpp.

std::map<std::string,ros::ServiceServer> ROSServer::_mapservices [private]

Definition at line 1526 of file rosserver.cpp.

boost::mutex ROSServer::_mutexModules [private]

Definition at line 1513 of file rosserver.cpp.

boost::mutex ROSServer::_mutexViewer [private]

Definition at line 1513 of file rosserver.cpp.

boost::mutex ROSServer::_mutexWorker [private]

Definition at line 1518 of file rosserver.cpp.

int ROSServer::_nNextFigureId [private]

Definition at line 1506 of file rosserver.cpp.

int ROSServer::_nNextModuleId [private]

Definition at line 1506 of file rosserver.cpp.

int ROSServer::_nNextPlannerId [private]

Definition at line 1506 of file rosserver.cpp.

ViewerBasePtr ROSServer::_pviewer [private]

viewer control variables

Definition at line 1511 of file rosserver.cpp.

boost::shared_ptr<ros::NodeHandle> ROSServer::_ros [private]

Definition at line 1524 of file rosserver.cpp.

boost::function<bool(const string&,const string&)> ROSServer::_setviewer [private]

Definition at line 1502 of file rosserver.cpp.

boost::thread ROSServer::_threadros [private]

Definition at line 1525 of file rosserver.cpp.

boost::thread ROSServer::_threadviewer [private]

Definition at line 1512 of file rosserver.cpp.

boost::thread ROSServer::_workerthread [private]

workers

Definition at line 1517 of file rosserver.cpp.

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

• rosserver.cpp