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
void	advanceThroughTrajectory (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	advanceToNextClosestPoint (ros::Time time)
	Gets the closest point on the trajectory whereby the point.time_from_start <= time - playback_start_time_.
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.
trajectory_msgs::JointTrajectory &	getTrajectoryError ()
	Returns the underlying trajectory.
TrajectoryRenderType	getTrajectoryRenderType () const
	Gets what trajectory rendering method to display in RVIZ.
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	play ()
	Starts playback of trajectory.
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 (const std::string &group_name)
	Sets the planning group name of the trajectory (usually right arm or left arm)
void	setGroupName (std::string name)
	Sets the plannign group name associated with 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	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	setTrajectoryError (const trajectory_msgs::JointTrajectory &trajectory_error)
	see getTrajectoryError
void	setTrajectoryRenderType (TrajectoryRenderType renderType)
	Sets what trajectory rendering method to display in RVIZ.
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 ()
	Stops playback of trajectory.
	TrajectoryData ()
	TrajectoryData (const unsigned int &id, const std::string &source, const std::string &group_name, const trajectory_msgs::JointTrajectory &trajectory)
	TrajectoryData (const unsigned int &id, const std::string &source, const std::string &group_name, const trajectory_msgs::JointTrajectory &trajectory, const trajectory_msgs::JointTrajectory &trajectory_error)
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_
ros::Time	playback_start_time_
RenderType	render_type_
bool	should_refresh_colors_
std::string	source_
bool	state_changed_
ros::Duration	time_to_stop_
trajectory_msgs::JointTrajectory	trajectory_
unsigned int	trajectory_bad_point_
trajectory_msgs::JointTrajectory	trajectory_error_
TrajectoryRenderType	trajectory_render_type_

Detailed Description

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

Class TrajectoryData

Definition at line 899 of file move_arm_utils.h.

Member Enumeration Documentation

enum planning_scene_utils::TrajectoryData::MarkerType

Enumerator:

VISUAL
COLLISION
PADDED

Definition at line 903 of file move_arm_utils.h.

Constructor & Destructor Documentation

TrajectoryData::TrajectoryData ( )

Definition at line 110 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
	)

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

Member Function Documentation

void TrajectoryData::advanceThroughTrajectory ( 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 207 of file move_arm_utils.cpp.

void TrajectoryData::advanceToNextClosestPoint ( ros::Time time )

Gets the closest point on the trajectory whereby the point.time_from_start <= time - playback_start_time_.

Definition at line 166 of file move_arm_utils.cpp.

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

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

Definition at line 979 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 1128 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 973 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 1207 of file move_arm_utils.h.

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

see setCurrentPoint

Definition at line 1122 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 1082 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 1195 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 1272 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 1255 of file move_arm_utils.h.

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

Definition at line 1170 of file move_arm_utils.h.

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

See setMotionPlanRequestId.

Definition at line 1101 of file move_arm_utils.h.

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

Definition at line 1267 of file move_arm_utils.h.

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

Definition at line 1110 of file move_arm_utils.h.

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

Gets what mesh to display in RVIZ.

Definition at line 1041 of file move_arm_utils.h.

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

Returns the pipeline stage of the trajectory.

Definition at line 1219 of file move_arm_utils.h.

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

Returns the underlying trajectory message.

Definition at line 1225 of file move_arm_utils.h.

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

Returns the underlying trajectory.

Definition at line 1243 of file move_arm_utils.h.

TrajectoryRenderType planning_scene_utils::TrajectoryData::getTrajectoryRenderType ( ) const [inline]

Gets what trajectory rendering method to display in RVIZ.

Definition at line 1053 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 1003 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 1015 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 961 of file move_arm_utils.h.

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

Shorthand for setVisible(false)

Definition at line 1188 of file move_arm_utils.h.

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

Shorthand for setCollisionsVisible(false)

Definition at line 997 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 1140 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 1159 of file move_arm_utils.h.

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

Starts playback of trajectory.

Definition at line 1146 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 1033 of file move_arm_utils.h.

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

Deletes the kinematic states associated with the trajectory.

Definition at line 1065 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 1278 of file move_arm_utils.h.

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

see areCollisionVisible

Definition at line 985 of file move_arm_utils.h.

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

See getColor.

Definition at line 1213 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 1115 of file move_arm_utils.h.

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

see getCurrentState

Definition at line 1088 of file move_arm_utils.h.

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

See getDuration.

Definition at line 1201 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 1134 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 1284 of file move_arm_utils.h.

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

See hasRefreshedColors.

Definition at line 1021 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 1261 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 1176 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 1095 of file move_arm_utils.h.

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

Definition at line 1106 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 1047 of file move_arm_utils.h.

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

See getSource.

Definition at line 1231 of file move_arm_utils.h.

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

See hasStateChanged.

Definition at line 967 of file move_arm_utils.h.

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

see getTrajectory

Definition at line 1237 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setTrajectoryError ( const trajectory_msgs::JointTrajectory & trajectory_error ) [inline]

see getTrajectoryError

Definition at line 1249 of file move_arm_utils.h.

void planning_scene_utils::TrajectoryData::setTrajectoryRenderType ( TrajectoryRenderType renderType ) [inline]

Sets what trajectory rendering method to display in RVIZ.

Definition at line 1059 of file move_arm_utils.h.

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

See isVisible.

Definition at line 1165 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 1009 of file move_arm_utils.h.

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

Shorthand for setVisible(true)

Definition at line 1182 of file move_arm_utils.h.

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

Shorthand for setCollisionsVisible(true)

Definition at line 991 of file move_arm_utils.h.

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

Stops playback of trajectory.

Definition at line 1153 of file move_arm_utils.h.

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