#include <arm_navigation_controls.h>

Public Member Functions
	CArmManipulationControls (wxWindow parent, const wxString &title, rviz::WindowManagerInterface wmi)
	Constructor.
void	disableControls ()
void	MoveAbs ()
void	MoveRel ()
bool	nav_start (srs_assisted_arm_navigation_msgs::ArmNavStart::Request &req, srs_assisted_arm_navigation_msgs::ArmNavStart::Response &res)
	Callback for arm_nav_start service. This service can be used to inform user that his/her activity is required.
void	OnChoice (wxCommandEvent &event)
virtual void	OnExecute (wxCommandEvent &event)
virtual void	OnFailed (wxCommandEvent &event)
void	OnGrasp (wxCommandEvent &event)
void	OnHold (wxCommandEvent &event)
void	OnLift (wxCommandEvent &event)
void	OnMoveRel (wxCommandEvent &event)
virtual void	OnNew (wxCommandEvent &event)
	Callbacks of buttons.
void	OnPitch (wxCommandEvent &event)
virtual void	OnPlan (wxCommandEvent &event)
virtual void	OnRepeat (wxCommandEvent &event)
void	OnRoll (wxCommandEvent &event)
void	OnSetText (wxCommandEvent &event)
void	OnStepBack (wxCommandEvent &event)
void	OnStopGrasp (wxCommandEvent &event)
void	OnStopTraj (wxCommandEvent &event)
virtual void	OnSuccess (wxCommandEvent &event)
virtual void	OnSwitch (wxCommandEvent &event)
void	OnYaw (wxCommandEvent &event)
bool	refresh ()
void	setControlsToDefaultState ()
	~CArmManipulationControls ()
Protected Types
typedef std::map< std::string, wxButton * >	ButtonsMap
Protected Member Functions
void	setButton (std::string but, bool state)
void	setTask (std::string text)
void	stateCallback (const srs_assisted_arm_navigation_msgs::AssistedArmNavigationState::ConstPtr &msg)
Protected Attributes
std::string	action_
bool	allow_repeat_
ButtonsMap	buttons_
wxButton *	m_button_switch
wxStaticText *	m_text_action_
wxStaticText *	m_text_predef_pos_
wxStaticText *	m_text_status
wxTextCtrl *	m_text_task_
rviz::WindowManagerInterface *	m_wmi
	stored window manager interface pointer
std::string	object_name_
wxWindow *	parent_
std::vector< Preset >	presets_
wxChoice *	presets_choice_
ros::ServiceServer	service_start_
ros::ServiceServer	service_timeout_
uint8_t	traj_executed_
bool	wait_for_start_
Private Types
enum	{ G_OPEN, G_CLOSE }
Private Member Functions
bool	checkService (std::string srv)
	DECLARE_EVENT_TABLE ()
void	ExecuteThread ()
void	GuiUpdateThread ()
void	NewThread ()
void	PlanThread ()
Private Attributes
bool	aco_
bool	arm_nav_called_
ros::Subscriber	arm_nav_state_sub_
bool	initialized_
wxCheckBox *	m_aco_
wxCheckBox *	m_or_lock_
wxCheckBox *	m_pos_lock_
bool	planning_started_
bool	spacenav_or_lock_
bool	spacenav_pos_lock_
bool	state_received_
bool	stop_gui_thread_
boost::thread	t_execute
boost::thread	t_gui_update
boost::thread	t_move_abs
boost::thread	t_move_rel
boost::thread	t_new
boost::thread	t_plan
bool	trajectory_planned_

Detailed Description

Definition at line 103 of file arm_navigation_controls.h.

Member Typedef Documentation

typedef std::map<std::string, wxButton *> srs_assisted_arm_navigation_ui::CArmManipulationControls::ButtonsMap [protected]

Definition at line 161 of file arm_navigation_controls.h.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

G_OPEN
G_CLOSE

Definition at line 220 of file arm_navigation_controls.h.

Constructor & Destructor Documentation

CArmManipulationControls::CArmManipulationControls	(	wxWindow *	parent,
		const wxString &	title,
		rviz::WindowManagerInterface *	wmi
	)

Constructor.

Constructor

Service provided by plugin. It can be used to inform user that his/her action is required.

Definition at line 83 of file arm_navigation_controls.cpp.

CArmManipulationControls::~CArmManipulationControls ( )

Definition at line 620 of file arm_navigation_controls.cpp.

Member Function Documentation

bool CArmManipulationControls::checkService ( std::string srv ) [private]

Definition at line 1348 of file arm_navigation_controls.cpp.

srs_assisted_arm_navigation_ui::CArmManipulationControls::DECLARE_EVENT_TABLE ( ) [private]

void CArmManipulationControls::disableControls ( )

Definition at line 512 of file arm_navigation_controls.cpp.

void CArmManipulationControls::ExecuteThread ( ) [private]

Definition at line 1024 of file arm_navigation_controls.cpp.

void CArmManipulationControls::GuiUpdateThread ( ) [private]

Definition at line 556 of file arm_navigation_controls.cpp.

void CArmManipulationControls::MoveAbs ( )

Definition at line 1409 of file arm_navigation_controls.cpp.

void CArmManipulationControls::MoveRel ( )

Definition at line 1483 of file arm_navigation_controls.cpp.

bool CArmManipulationControls::nav_start	(	srs_assisted_arm_navigation_msgs::ArmNavStart::Request &	req,
		srs_assisted_arm_navigation_msgs::ArmNavStart::Response &	res
	)

Callback for arm_nav_start service. This service can be used to inform user that his/her activity is required.

Definition at line 1176 of file arm_navigation_controls.cpp.

void CArmManipulationControls::NewThread ( ) [private]

There are several thread which are started from button callbacks. Threads are used because calls to some services may take a lot of time and if such service is called from button callback, the GUI of RVIZ is not responding.

Todo:: Add thread for refreshing planning scene (refresh button).

Definition at line 647 of file arm_navigation_controls.cpp.

void CArmManipulationControls::OnChoice ( wxCommandEvent & event )

wait for some time

Definition at line 1361 of file arm_navigation_controls.cpp.

void CArmManipulationControls::OnExecute ( wxCommandEvent & event ) [virtual]

wait for some time

Definition at line 999 of file arm_navigation_controls.cpp.

void CArmManipulationControls::OnFailed ( wxCommandEvent & event ) [virtual]

Definition at line 1124 of file arm_navigation_controls.cpp.

void srs_assisted_arm_navigation_ui::CArmManipulationControls::OnGrasp ( wxCommandEvent & event )

void srs_assisted_arm_navigation_ui::CArmManipulationControls::OnHold ( wxCommandEvent & event )

void srs_assisted_arm_navigation_ui::CArmManipulationControls::OnLift ( wxCommandEvent & event )

void srs_assisted_arm_navigation_ui::CArmManipulationControls::OnMoveRel ( wxCommandEvent & event )

void CArmManipulationControls::OnNew ( wxCommandEvent & event ) [virtual]

Callbacks of buttons.

wait for some time

Definition at line 766 of file arm_navigation_controls.cpp.

void srs_assisted_arm_navigation_ui::CArmManipulationControls::OnPitch ( wxCommandEvent & event )

void CArmManipulationControls::OnPlan ( wxCommandEvent & event ) [virtual]

wait for some time

Definition at line 898 of file arm_navigation_controls.cpp.

void CArmManipulationControls::OnRepeat ( wxCommandEvent & event ) [virtual]

Definition at line 1150 of file arm_navigation_controls.cpp.

void srs_assisted_arm_navigation_ui::CArmManipulationControls::OnRoll ( wxCommandEvent & event )

void srs_assisted_arm_navigation_ui::CArmManipulationControls::OnSetText ( wxCommandEvent & event )

void CArmManipulationControls::OnStepBack ( wxCommandEvent & event )

Definition at line 1226 of file arm_navigation_controls.cpp.

void srs_assisted_arm_navigation_ui::CArmManipulationControls::OnStopGrasp ( wxCommandEvent & event )

void CArmManipulationControls::OnStopTraj ( wxCommandEvent & event )

Definition at line 1314 of file arm_navigation_controls.cpp.

void CArmManipulationControls::OnSuccess ( wxCommandEvent & event ) [virtual]

Definition at line 1089 of file arm_navigation_controls.cpp.

void CArmManipulationControls::OnSwitch ( wxCommandEvent & event ) [virtual]

Definition at line 953 of file arm_navigation_controls.cpp.

void srs_assisted_arm_navigation_ui::CArmManipulationControls::OnYaw ( wxCommandEvent & event )

void CArmManipulationControls::PlanThread ( ) [private]

Definition at line 831 of file arm_navigation_controls.cpp.

bool CArmManipulationControls::refresh ( )

Definition at line 728 of file arm_navigation_controls.cpp.

void CArmManipulationControls::setButton	(	std::string	but,
		bool	state
	)		`[protected]`

Definition at line 611 of file arm_navigation_controls.cpp.

void CArmManipulationControls::setControlsToDefaultState ( )

Definition at line 473 of file arm_navigation_controls.cpp.

void CArmManipulationControls::setTask ( std::string text ) [protected]

Definition at line 1117 of file arm_navigation_controls.cpp.

void CArmManipulationControls::stateCallback ( const srs_assisted_arm_navigation_msgs::AssistedArmNavigationState::ConstPtr & msg ) [protected]

Definition at line 535 of file arm_navigation_controls.cpp.

Member Data Documentation

bool srs_assisted_arm_navigation_ui::CArmManipulationControls::aco_ [private]

Definition at line 247 of file arm_navigation_controls.h.

std::string srs_assisted_arm_navigation_ui::CArmManipulationControls::action_ [protected]

Definition at line 203 of file arm_navigation_controls.h.

bool srs_assisted_arm_navigation_ui::CArmManipulationControls::allow_repeat_ [protected]

Definition at line 199 of file arm_navigation_controls.h.

bool srs_assisted_arm_navigation_ui::CArmManipulationControls::arm_nav_called_ [private]

Definition at line 272 of file arm_navigation_controls.h.

ros::Subscriber srs_assisted_arm_navigation_ui::CArmManipulationControls::arm_nav_state_sub_ [private]

Definition at line 256 of file arm_navigation_controls.h.

ButtonsMap srs_assisted_arm_navigation_ui::CArmManipulationControls::buttons_ [protected]

Definition at line 163 of file arm_navigation_controls.h.

bool srs_assisted_arm_navigation_ui::CArmManipulationControls::initialized_ [private]

Definition at line 249 of file arm_navigation_controls.h.

wxCheckBox* srs_assisted_arm_navigation_ui::CArmManipulationControls::m_aco_ [private]

Definition at line 261 of file arm_navigation_controls.h.

wxButton* srs_assisted_arm_navigation_ui::CArmManipulationControls::m_button_switch [protected]

Definition at line 172 of file arm_navigation_controls.h.

wxCheckBox* srs_assisted_arm_navigation_ui::CArmManipulationControls::m_or_lock_ [private]

Definition at line 259 of file arm_navigation_controls.h.

wxCheckBox* srs_assisted_arm_navigation_ui::CArmManipulationControls::m_pos_lock_ [private]

Definition at line 258 of file arm_navigation_controls.h.

wxStaticText* srs_assisted_arm_navigation_ui::CArmManipulationControls::m_text_action_ [protected]

Definition at line 175 of file arm_navigation_controls.h.

wxStaticText* srs_assisted_arm_navigation_ui::CArmManipulationControls::m_text_predef_pos_ [protected]

Definition at line 180 of file arm_navigation_controls.h.

wxStaticText* srs_assisted_arm_navigation_ui::CArmManipulationControls::m_text_status [protected]

Definition at line 174 of file arm_navigation_controls.h.

wxTextCtrl* srs_assisted_arm_navigation_ui::CArmManipulationControls::m_text_task_ [protected]

Definition at line 176 of file arm_navigation_controls.h.

rviz::WindowManagerInterface* srs_assisted_arm_navigation_ui::CArmManipulationControls::m_wmi [protected]

stored window manager interface pointer

Definition at line 159 of file arm_navigation_controls.h.

std::string srs_assisted_arm_navigation_ui::CArmManipulationControls::object_name_ [protected]

Definition at line 202 of file arm_navigation_controls.h.

wxWindow* srs_assisted_arm_navigation_ui::CArmManipulationControls::parent_ [protected]

Definition at line 190 of file arm_navigation_controls.h.

bool srs_assisted_arm_navigation_ui::CArmManipulationControls::planning_started_ [private]

Definition at line 269 of file arm_navigation_controls.h.

std::vector<Preset> srs_assisted_arm_navigation_ui::CArmManipulationControls::presets_ [protected]

Definition at line 213 of file arm_navigation_controls.h.

wxChoice* srs_assisted_arm_navigation_ui::CArmManipulationControls::presets_choice_ [protected]

Definition at line 170 of file arm_navigation_controls.h.

ros::ServiceServer srs_assisted_arm_navigation_ui::CArmManipulationControls::service_start_ [protected]

Definition at line 187 of file arm_navigation_controls.h.

ros::ServiceServer srs_assisted_arm_navigation_ui::CArmManipulationControls::service_timeout_ [protected]

Definition at line 188 of file arm_navigation_controls.h.

bool srs_assisted_arm_navigation_ui::CArmManipulationControls::spacenav_or_lock_ [private]

Definition at line 254 of file arm_navigation_controls.h.

bool srs_assisted_arm_navigation_ui::CArmManipulationControls::spacenav_pos_lock_ [private]

Definition at line 253 of file arm_navigation_controls.h.

bool srs_assisted_arm_navigation_ui::CArmManipulationControls::state_received_ [private]

Definition at line 251 of file arm_navigation_controls.h.

bool srs_assisted_arm_navigation_ui::CArmManipulationControls::stop_gui_thread_ [private]

Definition at line 267 of file arm_navigation_controls.h.

boost::thread srs_assisted_arm_navigation_ui::CArmManipulationControls::t_execute [private]

Definition at line 237 of file arm_navigation_controls.h.

boost::thread srs_assisted_arm_navigation_ui::CArmManipulationControls::t_gui_update [private]

Definition at line 265 of file arm_navigation_controls.h.

boost::thread srs_assisted_arm_navigation_ui::CArmManipulationControls::t_move_abs [private]

Definition at line 241 of file arm_navigation_controls.h.

boost::thread srs_assisted_arm_navigation_ui::CArmManipulationControls::t_move_rel [private]

Definition at line 240 of file arm_navigation_controls.h.

boost::thread srs_assisted_arm_navigation_ui::CArmManipulationControls::t_new [private]

Definition at line 235 of file arm_navigation_controls.h.

boost::thread srs_assisted_arm_navigation_ui::CArmManipulationControls::t_plan [private]

Definition at line 236 of file arm_navigation_controls.h.

uint8_t srs_assisted_arm_navigation_ui::CArmManipulationControls::traj_executed_ [protected]

Definition at line 197 of file arm_navigation_controls.h.

bool srs_assisted_arm_navigation_ui::CArmManipulationControls::trajectory_planned_ [private]

Definition at line 270 of file arm_navigation_controls.h.

bool srs_assisted_arm_navigation_ui::CArmManipulationControls::wait_for_start_ [protected]

Definition at line 195 of file arm_navigation_controls.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation