Public Member Functions
bool	configure ()
	MoveArm (const std::string &group_name)
virtual	~MoveArm ()
Private Member Functions
bool	checkIK (const geometry_msgs::PoseStamped &pose_stamped_msg, const std::string &link_name, sensor_msgs::JointState &solution)
bool	computeIK (const geometry_msgs::PoseStamped &pose_stamped_msg, const std::string &link_name, sensor_msgs::JointState &solution)
bool	convertPoseGoalToJointGoal (arm_navigation_msgs::GetMotionPlan::Request &req)
bool	createPlan (arm_navigation_msgs::GetMotionPlan::Request &req, arm_navigation_msgs::GetMotionPlan::Response &res)
void	discretizeTrajectory (const trajectory_msgs::JointTrajectory &trajectory, trajectory_msgs::JointTrajectory &trajectory_out, const double &trajectory_discretization)
bool	doPrePlanningChecks (arm_navigation_msgs::GetMotionPlan::Request &req, arm_navigation_msgs::GetMotionPlan::Response &res)
void	execute (const arm_navigation_msgs::MoveArmGoalConstPtr &goal)
bool	executeCycle (arm_navigation_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	getAndSetPlanningScene (const arm_navigation_msgs::PlanningScene &planning_diff, const arm_navigation_msgs::OrderedCollisionOperations &operations)
bool	getRobotState (planning_models::KinematicState *state)
bool	hasPoseGoal (arm_navigation_msgs::GetMotionPlan::Request &req)
bool	isExecutionSafe ()
bool	isJointGoal (arm_navigation_msgs::GetMotionPlan::Request &req)
bool	isPoseGoal (arm_navigation_msgs::GetMotionPlan::Request &req)
void	monitorDoneCallback (const actionlib::SimpleClientGoalState &state, const head_monitor_msgs::HeadMonitorResultConstPtr &result)
void	monitorFeedbackCallback (const head_monitor_msgs::HeadMonitorFeedbackConstPtr &feedback)
void	moveArmGoalToPlannerRequest (const arm_navigation_msgs::MoveArmGoalConstPtr &goal, arm_navigation_msgs::GetMotionPlan::Request &req)
void	printTrajectory (const trajectory_msgs::JointTrajectory &trajectory)
void	publishStats ()
void	resetStateMachine ()
void	resetToStartState (planning_models::KinematicState *state)
bool	revertPlanningScene ()
bool	sendTrajectory (trajectory_msgs::JointTrajectory &current_trajectory)
void	visualizeAllowedContactRegions (const std::vector< arm_navigation_msgs::AllowedContactSpecification > &allowed_contacts)
void	visualizeJointGoal (arm_navigation_msgs::GetMotionPlan::Request &req)
void	visualizeJointGoal (const trajectory_msgs::JointTrajectory &trajectory)
void	visualizePlan (const trajectory_msgs::JointTrajectory &trajectory)
Private Attributes
boost::shared_ptr < actionlib::SimpleActionServer < arm_navigation_msgs::MoveArmAction > >	action_server_
std::vector< std::string >	all_link_names_
ros::Publisher	allowed_contact_regions_publisher_
bool	arm_ik_initialized_
planning_environment::CollisionModels *	collision_models_
arm_navigation_msgs::PlanningScene	current_planning_scene_
unsigned int	current_planning_scene_id_
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_state_client_
std::string	group_
std::vector< std::string >	group_joint_names_
std::vector< std::string >	group_link_names_
boost::shared_ptr < actionlib::SimpleActionClient < head_monitor_msgs::HeadMonitorAction > >	head_monitor_client_
bool	head_monitor_done_
arm_navigation_msgs::ArmNavigationErrorCodes	head_monitor_error_code_
std::string	head_monitor_link_
double	head_monitor_time_offset_
double	ik_allowed_time_
ros::ServiceClient	ik_client_
unsigned int	last_mpr_ID_
ros::ServiceClient	log_planning_scene_client_
bool	log_to_warehouse_
unsigned int	max_mpr_ID_
unsigned int	max_trajectory_ID_
arm_navigation_msgs::MoveArmFeedback	move_arm_action_feedback_
arm_navigation_msgs::MoveArmResult	move_arm_action_result_
double	move_arm_frequency_
MoveArmParameters	move_arm_parameters_
arm_navigation_msgs::MoveArmStatistics	move_arm_stats_
int	num_planning_attempts_
arm_navigation_msgs::GetMotionPlan::Request	original_request_
planning_models::KinematicState *	planning_scene_state_
boost::shared_ptr < actionlib::SimpleActionClient < head_monitor_msgs::PreplanHeadScanAction > >	preplan_scan_action_client_
ros::NodeHandle	private_handle_
bool	publish_stats_
ros::NodeHandle	root_handle_
ros::ServiceClient	set_planning_scene_diff_client_
arm_navigation_msgs::SetPlanningSceneDiff::Request	set_planning_scene_diff_req_
arm_navigation_msgs::SetPlanningSceneDiff::Response	set_planning_scene_diff_res_
MoveArmState	state_
ros::Publisher	stats_publisher_
tf::TransformListener *	tf_
ros::ServiceClient	trajectory_cancel_client_
double	trajectory_discretization_
double	trajectory_filter_allowed_time_
ros::ServiceClient	trajectory_query_client_
ros::ServiceClient	trajectory_start_client_
ros::Publisher	vis_marker_array_publisher_
ros::Publisher	vis_marker_publisher_
MoveArmWarehouseLoggerReader *	warehouse_logger_

Detailed Description

Definition at line 132 of file move_arm_simple_action.cpp.

Constructor & Destructor Documentation

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

Definition at line 135 of file move_arm_simple_action.cpp.

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

Definition at line 203 of file move_arm_simple_action.cpp.

Member Function Documentation

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

Definition at line 363 of file move_arm_simple_action.cpp.

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

Definition at line 325 of file move_arm_simple_action.cpp.

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

Definition at line 212 of file move_arm_simple_action.cpp.

bool move_arm_warehouse::MoveArm::convertPoseGoalToJointGoal ( arm_navigation_msgs::GetMotionPlan::Request & req ) [inline, private]

Kinematics

Definition at line 234 of file move_arm_simple_action.cpp.

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

Definition at line 686 of file move_arm_simple_action.cpp.

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

End Trajectory Filtering

Definition at line 454 of file move_arm_simple_action.cpp.

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

Definition at line 571 of file move_arm_simple_action.cpp.

void move_arm_warehouse::MoveArm::execute ( const arm_navigation_msgs::MoveArmGoalConstPtr & goal ) [inline, private]

Definition at line 1141 of file move_arm_simple_action.cpp.

bool move_arm_warehouse::MoveArm::executeCycle ( arm_navigation_msgs::GetMotionPlan::Request & req ) [inline, private]

Definition at line 855 of file move_arm_simple_action.cpp.

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

Definition at line 759 of file move_arm_simple_action.cpp.

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

End Kinematics Trajectory Filtering

Definition at line 406 of file move_arm_simple_action.cpp.

bool move_arm_warehouse::MoveArm::getAndSetPlanningScene	(	const arm_navigation_msgs::PlanningScene &	planning_diff,
		const arm_navigation_msgs::OrderedCollisionOperations &	operations
	)		`[inline, private]`

Definition at line 1301 of file move_arm_simple_action.cpp.

bool move_arm_warehouse::MoveArm::getRobotState ( planning_models::KinematicState * state ) [inline, private]

Definition at line 525 of file move_arm_simple_action.cpp.

bool move_arm_warehouse::MoveArm::hasPoseGoal ( arm_navigation_msgs::GetMotionPlan::Request & req ) [inline, private]

Definition at line 502 of file move_arm_simple_action.cpp.

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

Definition at line 521 of file move_arm_simple_action.cpp.

bool move_arm_warehouse::MoveArm::isJointGoal ( arm_navigation_msgs::GetMotionPlan::Request & req ) [inline, private]

Definition at line 510 of file move_arm_simple_action.cpp.

bool move_arm_warehouse::MoveArm::isPoseGoal ( arm_navigation_msgs::GetMotionPlan::Request & req ) [inline, private]

State and trajectory validity checks Helper functions

Definition at line 493 of file move_arm_simple_action.cpp.

void move_arm_warehouse::MoveArm::monitorDoneCallback	(	const actionlib::SimpleClientGoalState &	state,
		const head_monitor_msgs::HeadMonitorResultConstPtr &	result
	)		`[inline, private]`

Definition at line 1276 of file move_arm_simple_action.cpp.

void move_arm_warehouse::MoveArm::monitorFeedbackCallback ( const head_monitor_msgs::HeadMonitorFeedbackConstPtr & feedback ) [inline, private]

Definition at line 1293 of file move_arm_simple_action.cpp.

void move_arm_warehouse::MoveArm::moveArmGoalToPlannerRequest	(	const arm_navigation_msgs::MoveArmGoalConstPtr &	goal,
		arm_navigation_msgs::GetMotionPlan::Request &	req
	)		`[inline, private]`

End Helper Functions Motion planning

Definition at line 548 of file move_arm_simple_action.cpp.

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

Definition at line 1378 of file move_arm_simple_action.cpp.

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

End State machine Visualization and I/O

Definition at line 1359 of file move_arm_simple_action.cpp.

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

End Control State machine

Definition at line 848 of file move_arm_simple_action.cpp.

void move_arm_warehouse::MoveArm::resetToStartState ( planning_models::KinematicState * state ) [inline, private]

Definition at line 1340 of file move_arm_simple_action.cpp.

bool move_arm_warehouse::MoveArm::revertPlanningScene ( ) [inline, private]

Definition at line 1344 of file move_arm_simple_action.cpp.

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

End Motion planning

Definition at line 716 of file move_arm_simple_action.cpp.

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

Definition at line 1435 of file move_arm_simple_action.cpp.

void move_arm_warehouse::MoveArm::visualizeJointGoal ( arm_navigation_msgs::GetMotionPlan::Request & req ) [inline, private]

Definition at line 1389 of file move_arm_simple_action.cpp.

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

Definition at line 1408 of file move_arm_simple_action.cpp.

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

Definition at line 1420 of file move_arm_simple_action.cpp.