#include <motion_planning_display.h>

Inheritance diagram for moveit_rviz_plugin::MotionPlanningDisplay:

Public Member Functions
void	addStatusText (const std::string &text)
void	addStatusText (const std::vector< std::string > &text)
void	changePlanningGroup (const std::string &group)
std::string	getCurrentPlanningGroup () const
robot_state::RobotStateConstPtr	getQueryGoalState () const
const robot_interaction::RobotInteraction::InteractionHandlerPtr &	getQueryGoalStateHandler () const
robot_state::RobotStateConstPtr	getQueryStartState () const
const robot_interaction::RobotInteraction::InteractionHandlerPtr &	getQueryStartStateHandler () const
const robot_interaction::RobotInteractionPtr &	getRobotInteraction () const
virtual void	load (const rviz::Config &config)
	MotionPlanningDisplay ()
virtual void	reset ()
void	resetStatusTextColor ()
virtual void	save (rviz::Config config) const
void	setQueryGoalState (const robot_state::RobotState &goal)
void	setQueryStartState (const robot_state::RobotState &start)
void	setStatusTextColor (const QColor &color)
virtual void	update (float wall_dt, float ros_dt)
void	updateQueryGoalState ()
void	updateQueryStartState ()
void	useApproximateIK (bool flag)
virtual	~MotionPlanningDisplay ()
Protected Member Functions
void	backgroundJobUpdate (BackgroundProcessing::JobEvent event)
void	clearTrajectoryTrail ()
void	computeMetrics (bool start, const std::string &group, double payload)
void	computeMetricsInternal (std::map< std::string, double > &metrics, const robot_interaction::RobotInteraction::EndEffector &eef, const robot_state::RobotState &state, double payload)
void	displayMetrics (bool start)
void	displayTable (const std::map< std::string, double > &values, const Ogre::ColourValue &color, const Ogre::Vector3 &pos, const Ogre::Quaternion &orient)
void	drawQueryGoalState ()
void	drawQueryStartState ()
void	executeMainLoopJobs ()
virtual void	fixedFrameChanged ()
float	getStateDisplayTime ()
void	incomingDisplayTrajectory (const moveit_msgs::DisplayTrajectory::ConstPtr &msg)
	ROS callback for an incoming path message.
bool	isIKSolutionCollisionFree (robot_state::JointStateGroup *group, const std::vector< double > &ik_solution) const
virtual void	onDisable ()
virtual void	onEnable ()
virtual void	onInitialize ()
virtual void	onRobotModelLoaded ()
	This is an event called by loadRobotModel() in the MainLoop; do not call directly.
virtual void	onSceneMonitorReceivedUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
void	populateMenuHandler (boost::shared_ptr< interactive_markers::MenuHandler > &mh)
void	publishInteractiveMarkers (bool pose_update)
void	recomputeQueryGoalStateMetrics ()
void	recomputeQueryStartStateMetrics ()
void	renderWorkspaceBox ()
void	scheduleDrawQueryGoalState (robot_interaction::RobotInteraction::InteractionHandler *handler, bool error_state_changed)
void	scheduleDrawQueryStartState (robot_interaction::RobotInteraction::InteractionHandler *handler, bool error_state_changed)
void	setQueryStateHelper (bool use_start_state, const std::string &v)
void	updateBackgroundJobProgressBar ()
virtual void	updateInternal (float wall_dt, float ros_dt)
void	updateLinkColors ()
void	updateStateExceptModified (robot_state::RobotState &dest, const robot_state::RobotState &src)
Protected Attributes
bool	animating_path_
std::map< std::string, int >	collision_links_goal_
std::map< std::string, int >	collision_links_start_
rviz::BoolProperty *	compute_weight_limit_property_
std::map< std::pair< bool, std::string >, std::map < std::string, double > >	computed_metrics_
int	current_state_
float	current_state_time_
rviz::BoolProperty *	display_path_collision_enabled_property_
RobotStateVisualizationPtr	display_path_robot_
	Handles actually drawing the robot along motion plans.
rviz::BoolProperty *	display_path_visual_enabled_property_
robot_trajectory::RobotTrajectoryPtr	displaying_trajectory_message_
std::map< std::string, dynamics_solver::DynamicsSolverPtr >	dynamics_solver_
MotionPlanningFrame *	frame_
QDockWidget *	frame_dock_
rviz::Display *	int_marker_display_
kinematics_metrics::KinematicsMetricsPtr	kinematics_metrics_
rviz::BoolProperty *	loop_display_property_
boost::shared_ptr < interactive_markers::MenuHandler >	menu_handler_goal_
boost::shared_ptr < interactive_markers::MenuHandler >	menu_handler_start_
rviz::Property *	metrics_category_
rviz::FloatProperty *	metrics_set_payload_property_
rviz::FloatProperty *	metrics_text_height_property_
std::set< std::string >	modified_groups_
	Hold the names of the groups for which the query states have been updated (and should not be altered when new info is received from the planning scene)
rviz::Property *	path_category_
rviz::Property *	plan_category_
rviz::EditableEnumProperty *	planning_group_property_
std::map< std::string, bool >	position_only_ik_
	Some groups use position only ik, calls to the metrics have to be modified appropriately.
ros::NodeHandle	private_handle_
rviz::ColorProperty *	query_colliding_link_color_property_
rviz::FloatProperty *	query_goal_alpha_property_
rviz::ColorProperty *	query_goal_color_property_
robot_interaction::RobotInteraction::InteractionHandlerPtr	query_goal_state_
rviz::BoolProperty *	query_goal_state_property_
rviz::FloatProperty *	query_marker_scale_property_
rviz::ColorProperty *	query_outside_joint_limits_link_color_property_
RobotStateVisualizationPtr	query_robot_goal_
	Handles drawing the robot at the goal configuration.
RobotStateVisualizationPtr	query_robot_start_
	Handles drawing the robot at the start configuration.
rviz::FloatProperty *	query_start_alpha_property_
rviz::ColorProperty *	query_start_color_property_
robot_interaction::RobotInteraction::InteractionHandlerPtr	query_start_state_
rviz::BoolProperty *	query_start_state_property_
robot_interaction::RobotInteractionPtr	robot_interaction_
rviz::FloatProperty *	robot_path_alpha_property_
rviz::BoolProperty *	show_joint_torques_property_
rviz::BoolProperty *	show_manipulability_index_property_
rviz::BoolProperty *	show_manipulability_property_
rviz::BoolProperty *	show_workspace_property_
rviz::EditableEnumProperty *	state_display_time_property_
bool	text_display_for_start_
	indicates whether the text display is for the start state or not
Ogre::SceneNode *	text_display_scene_node_
	displays texts
rviz::MovableText *	text_to_display_
rviz::BoolProperty *	trail_display_property_
robot_trajectory::RobotTrajectoryPtr	trajectory_message_to_display_
rviz::RosTopicProperty *	trajectory_topic_property_
ros::Subscriber	trajectory_topic_sub_
std::vector< rviz::Robot * >	trajectory_trail_
boost::mutex	update_metrics_lock_
boost::scoped_ptr< rviz::Shape >	workspace_box_
Private Slots
void	changedDisplayPathCollisionEnabled ()
void	changedDisplayPathVisualEnabled ()
void	changedLoopDisplay ()
void	changedMetricsSetPayload ()
void	changedMetricsTextHeight ()
void	changedPlanningGroup ()
void	changedQueryCollidingLinkColor ()
void	changedQueryGoalAlpha ()
void	changedQueryGoalColor ()
void	changedQueryGoalState ()
void	changedQueryJointViolationColor ()
void	changedQueryMarkerScale ()
void	changedQueryStartAlpha ()
void	changedQueryStartColor ()
void	changedQueryStartState ()
void	changedRobotPathAlpha ()
void	changedShowJointTorques ()
void	changedShowManipulability ()
void	changedShowManipulabilityIndex ()
void	changedShowTrail ()
void	changedShowWeightLimit ()
void	changedStateDisplayTime ()
void	changedTrajectoryTopic ()
void	changedWorkspace ()
void	resetInteractiveMarkers ()

Detailed Description

Definition at line 74 of file motion_planning_display.h.

Constructor & Destructor Documentation

moveit_rviz_plugin::MotionPlanningDisplay::MotionPlanningDisplay ( )

Definition at line 76 of file motion_planning_display.cpp.

moveit_rviz_plugin::MotionPlanningDisplay::~MotionPlanningDisplay ( ) [virtual]

Definition at line 219 of file motion_planning_display.cpp.

Member Function Documentation

void moveit_rviz_plugin::MotionPlanningDisplay::addStatusText ( const std::string & text )

Definition at line 722 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::addStatusText ( const std::vector< std::string > & text )

Definition at line 728 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::backgroundJobUpdate ( BackgroundProcessing::JobEvent event ) [protected]

Definition at line 313 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedDisplayPathCollisionEnabled ( ) [private, slot]

Definition at line 1083 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedDisplayPathVisualEnabled ( ) [private, slot]

Definition at line 1068 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedLoopDisplay ( ) [private, slot]

Definition at line 460 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedMetricsSetPayload ( ) [private, slot]

Definition at line 409 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedMetricsTextHeight ( ) [private, slot]

Definition at line 423 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedPlanningGroup ( ) [private, slot]

Definition at line 1029 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryCollidingLinkColor ( ) [private, slot]

Definition at line 902 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryGoalAlpha ( ) [private, slot]

Definition at line 896 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryGoalColor ( ) [private, slot]

Definition at line 884 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryGoalState ( ) [private, slot]

Definition at line 758 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryJointViolationColor ( ) [private, slot]

Definition at line 908 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryMarkerScale ( ) [private, slot]

Definition at line 872 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryStartAlpha ( ) [private, slot]

Definition at line 866 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryStartColor ( ) [private, slot]

Definition at line 854 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryStartState ( ) [private, slot]

Definition at line 748 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedRobotPathAlpha ( ) [private, slot]

Definition at line 490 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedShowJointTorques ( ) [private, slot]

Definition at line 395 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedShowManipulability ( ) [private, slot]

Definition at line 381 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedShowManipulabilityIndex ( ) [private, slot]

Definition at line 367 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedShowTrail ( ) [private, slot]

Definition at line 465 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedShowWeightLimit ( ) [private, slot]

Definition at line 353 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedStateDisplayTime ( ) [private, slot]

Definition at line 1064 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedTrajectoryTopic ( ) [private, slot]

Definition at line 523 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changedWorkspace ( ) [private, slot]

Definition at line 1054 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::changePlanningGroup ( const std::string & group )

Definition at line 1014 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::clearTrajectoryTrail ( ) [protected]

Definition at line 453 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::computeMetrics	(	bool	start,
		const std::string &	group,
		double	payload
	)		`[protected]`

Definition at line 530 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::computeMetricsInternal	(	std::map< std::string, double > &	metrics,
		const robot_interaction::RobotInteraction::EndEffector &	eef,
		const robot_state::RobotState &	state,
		double	payload
	)		`[protected]`

Definition at line 545 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::displayMetrics ( bool start ) [protected]

Definition at line 603 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::displayTable	(	const std::map< std::string, double > &	values,
		const Ogre::ColourValue &	color,
		const Ogre::Vector3 &	pos,
		const Ogre::Quaternion &	orient
	)		`[protected]`

Definition at line 428 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::drawQueryGoalState ( ) [protected]

Definition at line 768 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::drawQueryStartState ( ) [protected]

Definition at line 660 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::executeMainLoopJobs ( ) [protected]

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

void moveit_rviz_plugin::MotionPlanningDisplay::fixedFrameChanged ( ) [protected, virtual]

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1466 of file motion_planning_display.cpp.

std::string moveit_rviz_plugin::MotionPlanningDisplay::getCurrentPlanningGroup ( ) const

Definition at line 1059 of file motion_planning_display.cpp.

robot_state::RobotStateConstPtr moveit_rviz_plugin::MotionPlanningDisplay::getQueryGoalState ( ) const [inline]

Definition at line 95 of file motion_planning_display.h.

const robot_interaction::RobotInteraction::InteractionHandlerPtr& moveit_rviz_plugin::MotionPlanningDisplay::getQueryGoalStateHandler ( ) const [inline]

Definition at line 110 of file motion_planning_display.h.

robot_state::RobotStateConstPtr moveit_rviz_plugin::MotionPlanningDisplay::getQueryStartState ( ) const [inline]

Definition at line 90 of file motion_planning_display.h.

const robot_interaction::RobotInteraction::InteractionHandlerPtr& moveit_rviz_plugin::MotionPlanningDisplay::getQueryStartStateHandler ( ) const [inline]

Definition at line 105 of file motion_planning_display.h.

const robot_interaction::RobotInteractionPtr& moveit_rviz_plugin::MotionPlanningDisplay::getRobotInteraction ( ) const [inline]

Definition at line 100 of file motion_planning_display.h.

float moveit_rviz_plugin::MotionPlanningDisplay::getStateDisplayTime ( ) [protected]

Definition at line 1313 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::incomingDisplayTrajectory ( const moveit_msgs::DisplayTrajectory::ConstPtr & msg ) [protected]

ROS callback for an incoming path message.

Definition at line 1434 of file motion_planning_display.cpp.

bool moveit_rviz_plugin::MotionPlanningDisplay::isIKSolutionCollisionFree	(	robot_state::JointStateGroup *	group,
		const std::vector< double > &	ik_solution
	)		const `[protected]`

Definition at line 978 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::load ( const rviz::Config & config ) [virtual]

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1399 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::onDisable ( ) [protected, virtual]

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1294 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::onEnable ( ) [protected, virtual]

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1265 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::onInitialize ( ) [protected, virtual]

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 237 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::onRobotModelLoaded ( ) [protected, virtual]

This is an event called by loadRobotModel() in the MainLoop; do not call directly.

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1167 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::onSceneMonitorReceivedUpdate ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type ) [protected, virtual]

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1238 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::populateMenuHandler ( boost::shared_ptr< interactive_markers::MenuHandler > & mh ) [protected]

Definition at line 1134 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::publishInteractiveMarkers ( bool pose_update ) [protected]

Definition at line 829 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::recomputeQueryGoalStateMetrics ( ) [protected]

Definition at line 741 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::recomputeQueryStartStateMetrics ( ) [protected]

Definition at line 734 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::renderWorkspaceBox ( ) [protected]

Definition at line 497 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::reset ( void ) [virtual]

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 289 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::resetInteractiveMarkers ( ) [private, slot]

Definition at line 822 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::resetStatusTextColor ( )

Definition at line 711 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::save ( rviz::Config config ) const [virtual]

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1421 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::scheduleDrawQueryGoalState	(	robot_interaction::RobotInteraction::InteractionHandler *	handler,
		bool	error_state_changed
	)		`[protected]`

Definition at line 925 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::scheduleDrawQueryStartState	(	robot_interaction::RobotInteraction::InteractionHandler *	handler,
		bool	error_state_changed
	)		`[protected]`

Definition at line 914 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::setQueryGoalState ( const robot_state::RobotState & goal )

Definition at line 956 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::setQueryStartState ( const robot_state::RobotState & start )

Definition at line 950 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::setQueryStateHelper	(	bool	use_start_state,
		const std::string &	v
	)		`[protected]`

Definition at line 1094 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::setStatusTextColor ( const QColor & color )

Definition at line 716 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::update	(	float	wall_dt,
		float	ros_dt
	)		`[virtual]`

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1338 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::updateBackgroundJobProgressBar ( ) [protected]

Definition at line 318 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::updateInternal	(	float	wall_dt,
		float	ros_dt
	)		`[protected, virtual]`

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1348 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::updateLinkColors ( ) [protected]

Definition at line 990 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::updateQueryGoalState ( )

Definition at line 943 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::updateQueryStartState ( )

Definition at line 936 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::updateStateExceptModified	(	robot_state::RobotState &	dest,
		const robot_state::RobotState &	src
	)		`[protected]`

Definition at line 1220 of file motion_planning_display.cpp.

void moveit_rviz_plugin::MotionPlanningDisplay::useApproximateIK ( bool flag )

Definition at line 962 of file motion_planning_display.cpp.

Member Data Documentation

bool moveit_rviz_plugin::MotionPlanningDisplay::animating_path_ [protected]

Definition at line 228 of file motion_planning_display.h.

std::map<std::string, int> moveit_rviz_plugin::MotionPlanningDisplay::collision_links_goal_ [protected]

Definition at line 246 of file motion_planning_display.h.

std::map<std::string, int> moveit_rviz_plugin::MotionPlanningDisplay::collision_links_start_ [protected]

Definition at line 245 of file motion_planning_display.h.

rviz::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::compute_weight_limit_property_ [protected]

Definition at line 284 of file motion_planning_display.h.

std::map<std::pair<bool, std::string>, std::map<std::string, double> > moveit_rviz_plugin::MotionPlanningDisplay::computed_metrics_ [protected]

The metrics are pairs of name-value for each of the active end effectors, for both start & goal states. computed_metrics_[std::make_pair(IS_START_STATE, GROUP_NAME)] = a map of key-value pairs

Definition at line 252 of file motion_planning_display.h.

int moveit_rviz_plugin::MotionPlanningDisplay::current_state_ [protected]

Definition at line 229 of file motion_planning_display.h.

float moveit_rviz_plugin::MotionPlanningDisplay::current_state_time_ [protected]

Definition at line 230 of file motion_planning_display.h.

rviz::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::display_path_collision_enabled_property_ [protected]

Definition at line 278 of file motion_planning_display.h.

RobotStateVisualizationPtr moveit_rviz_plugin::MotionPlanningDisplay::display_path_robot_ [protected]

Handles actually drawing the robot along motion plans.

Definition at line 217 of file motion_planning_display.h.

rviz::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::display_path_visual_enabled_property_ [protected]

Definition at line 277 of file motion_planning_display.h.

robot_trajectory::RobotTrajectoryPtr moveit_rviz_plugin::MotionPlanningDisplay::displaying_trajectory_message_ [protected]

Definition at line 223 of file motion_planning_display.h.

std::map<std::string, dynamics_solver::DynamicsSolverPtr> moveit_rviz_plugin::MotionPlanningDisplay::dynamics_solver_ [protected]

Definition at line 258 of file motion_planning_display.h.

MotionPlanningFrame* moveit_rviz_plugin::MotionPlanningDisplay::frame_ [protected]

Definition at line 236 of file motion_planning_display.h.

QDockWidget* moveit_rviz_plugin::MotionPlanningDisplay::frame_dock_ [protected]

Definition at line 237 of file motion_planning_display.h.

rviz::Display* moveit_rviz_plugin::MotionPlanningDisplay::int_marker_display_ [protected]

Definition at line 292 of file motion_planning_display.h.

kinematics_metrics::KinematicsMetricsPtr moveit_rviz_plugin::MotionPlanningDisplay::kinematics_metrics_ [protected]

Definition at line 257 of file motion_planning_display.h.

rviz::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::loop_display_property_ [protected]

Definition at line 282 of file motion_planning_display.h.

boost::shared_ptr<interactive_markers::MenuHandler> moveit_rviz_plugin::MotionPlanningDisplay::menu_handler_goal_ [protected]

Definition at line 244 of file motion_planning_display.h.

boost::shared_ptr<interactive_markers::MenuHandler> moveit_rviz_plugin::MotionPlanningDisplay::menu_handler_start_ [protected]

Definition at line 243 of file motion_planning_display.h.

rviz::Property* moveit_rviz_plugin::MotionPlanningDisplay::metrics_category_ [protected]

Definition at line 264 of file motion_planning_display.h.

rviz::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::metrics_set_payload_property_ [protected]

Definition at line 288 of file motion_planning_display.h.

rviz::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::metrics_text_height_property_ [protected]

Definition at line 289 of file motion_planning_display.h.

std::set<std::string> moveit_rviz_plugin::MotionPlanningDisplay::modified_groups_ [protected]

Hold the names of the groups for which the query states have been updated (and should not be altered when new info is received from the planning scene)

Definition at line 248 of file motion_planning_display.h.

rviz::Property* moveit_rviz_plugin::MotionPlanningDisplay::path_category_ [protected]

Definition at line 262 of file motion_planning_display.h.

rviz::Property* moveit_rviz_plugin::MotionPlanningDisplay::plan_category_ [protected]

Definition at line 263 of file motion_planning_display.h.

rviz::EditableEnumProperty* moveit_rviz_plugin::MotionPlanningDisplay::planning_group_property_ [protected]

Definition at line 266 of file motion_planning_display.h.

std::map<std::string, bool> moveit_rviz_plugin::MotionPlanningDisplay::position_only_ik_ [protected]

Some groups use position only ik, calls to the metrics have to be modified appropriately.

Definition at line 254 of file motion_planning_display.h.

ros::NodeHandle moveit_rviz_plugin::MotionPlanningDisplay::private_handle_ [protected]

Definition at line 227 of file motion_planning_display.h.