#include <interactive_robot.h>

Classes
class	RobotLoadException
Public Member Functions
const std::string &	getGroupName () const
void	getWorldGeometry (Eigen::Affine3d &pose, double &size)
	InteractiveRobot (const std::string &robot_description="robot_description", const std::string &robot_topic="interactive_robot_state", const std::string &marker_topic="interactive_robot_markers", const std::string &imarker_topic="interactive_robot_imarkers")
robot_model::RobotModelPtr &	robotModel ()
robot_state::RobotStatePtr &	robotState ()
void	setGroup (const std::string &name)
bool	setGroupPose (const Eigen::Affine3d &pose)
void	setUserCallback (boost::function< void(InteractiveRobot &robot)> callback)
void	setWorldObjectPose (const Eigen::Affine3d &pose)
	~InteractiveRobot ()
Public Attributes
void *	user_data_
Private Member Functions
void	publishRobotState ()
void	publishWorldState ()
void	scheduleUpdate ()
bool	setCallbackTimer (bool new_update_request)
void	updateAll ()
void	updateCallback (const ros::TimerEvent &e)
Static Private Member Functions
static void	movedRobotMarkerCallback (InteractiveRobot *robot, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
static void	movedWorldMarkerCallback (InteractiveRobot *robot, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
Private Attributes
ros::Duration	average_callback_duration_
Eigen::Affine3d	desired_group_end_link_pose_
Eigen::Affine3d	desired_world_object_pose_
robot_state::JointStateGroup *	group_
IMarker *	imarker_robot_
IMarker *	imarker_world_
ros::Time	init_time_
interactive_markers::InteractiveMarkerServer	interactive_marker_server_
ros::Time	last_callback_time_
ros::NodeHandle	nh_
ros::Timer	publish_timer_
robot_model_loader::RobotModelLoader	rm_loader_
robot_model::RobotModelPtr	robot_model_
robot_state::RobotStatePtr	robot_state_
ros::Publisher	robot_state_publisher_
int	schedule_request_count_
boost::function< void(InteractiveRobot &robot)>	user_callback_
ros::Publisher	world_state_publisher_
Static Private Attributes
static const Eigen::Affine3d	DEFAULT_WORLD_OBJECT_POSE_
static const ros::Duration	min_delay_
static const double	WORLD_BOX_SIZE_ = 0.15

Detailed Description

Keeps track of the state of the robot and the world. Updates the state when interactive markers are manipulated. Publishes the state to rviz.

Definition at line 56 of file interactive_robot.h.

Constructor & Destructor Documentation

InteractiveRobot::InteractiveRobot	(	const std::string &	robot_description = `"robot_description"`,
		const std::string &	robot_topic = `"interactive_robot_state"`,
		const std::string &	marker_topic = `"interactive_robot_markers"`,
		const std::string &	imarker_topic = `"interactive_robot_imarkers"`
	)

Definition at line 57 of file interactive_robot.cpp.

InteractiveRobot::~InteractiveRobot ( )

Definition at line 127 of file interactive_robot.cpp.

Member Function Documentation

const std::string & InteractiveRobot::getGroupName ( ) const

Definition at line 278 of file interactive_robot.cpp.

void InteractiveRobot::getWorldGeometry	(	Eigen::Affine3d &	pose,
		double &	size
	)

return size and pose of world object cube

Definition at line 329 of file interactive_robot.cpp.

void InteractiveRobot::movedRobotMarkerCallback	(	InteractiveRobot *	robot,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)		`[static, private]`

Definition at line 134 of file interactive_robot.cpp.

void InteractiveRobot::movedWorldMarkerCallback	(	InteractiveRobot *	robot,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)		`[static, private]`