Executes and monitors a set of trajectories. More...

#include <trajectory_execution_monitor.h>

Public Member Functions
void	addTrajectoryControllerHandler (boost::shared_ptr< TrajectoryControllerHandler > &trajectory_controller_handler)
	Add a controller to a list of controllers.
void	addTrajectoryRecorder (boost::shared_ptr< TrajectoryRecorder > &trajectory_recorder)
	Add a recorder to a list of recorders.
void	executeTrajectories (const std::vector< TrajectoryExecutionRequest > &to_execute, const boost::function< bool(TrajectoryExecutionDataVector)> &done_callback)
	Execute a series of trajectories, in order. The callbacks will get called, in order, after each trajectory is finished executing.
	TrajectoryExecutionMonitor ()
Protected Member Functions
bool	closeEnough (const TrajectoryExecutionRequest &ter, const TrajectoryExecutionData &ted)
	Returns true if the executed trajectory endpoint is close to intended trajectory endpoint.
void	compareLastRecordedToStart (const TrajectoryExecutionRequest &last_ter, const TrajectoryExecutionRequest &next_ter, const TrajectoryExecutionData &ted)
	Compare recorded trajectory to expected trajectory.
bool	sendTrajectory (const TrajectoryExecutionRequest &ter)
void	trajectoryFinishedCallbackFunction (TrajectoryControllerState controller_state)
	Gets called after the execution of a trajectory.
Protected Attributes
planning_environment::CollisionModels	cm_
unsigned int	current_trajectory_index_
const std::vector < TrajectoryExecutionRequest > *	execution_data_
TrajectoryExecutionDataVector	execution_result_vector_
boost::shared_ptr < TrajectoryControllerHandler >	last_requested_handler_
boost::function< bool(TrajectoryExecutionDataVector)>	result_callback_
std::map< std::string, boost::shared_ptr < TrajectoryControllerHandler > >	trajectory_controller_handler_map_
std::map< std::string, boost::shared_ptr < TrajectoryRecorder > >	trajectory_recorder_map_

Detailed Description

Executes and monitors a set of trajectories.

Definition at line 117 of file trajectory_execution_monitor.h.

Constructor & Destructor Documentation

trajectory_execution_monitor::TrajectoryExecutionMonitor::TrajectoryExecutionMonitor ( ) [inline]

Definition at line 122 of file trajectory_execution_monitor.h.

Member Function Documentation

void TrajectoryExecutionMonitor::addTrajectoryControllerHandler ( boost::shared_ptr< TrajectoryControllerHandler > & trajectory_controller_handler )

Add a controller to a list of controllers.

Definition at line 57 of file trajectory_execution_monitor.cpp.

void TrajectoryExecutionMonitor::addTrajectoryRecorder ( boost::shared_ptr< TrajectoryRecorder > & trajectory_recorder )

Add a recorder to a list of recorders.

Definition at line 53 of file trajectory_execution_monitor.cpp.

bool TrajectoryExecutionMonitor::closeEnough	(	const TrajectoryExecutionRequest &	ter,
		const TrajectoryExecutionData &	ted
	)		`[protected]`

Returns true if the executed trajectory endpoint is close to intended trajectory endpoint.

Definition at line 197 of file trajectory_execution_monitor.cpp.

void TrajectoryExecutionMonitor::compareLastRecordedToStart	(	const TrajectoryExecutionRequest &	last_ter,
		const TrajectoryExecutionRequest &	next_ter,
		const TrajectoryExecutionData &	ted
	)		`[protected]`

Compare recorded trajectory to expected trajectory.

Definition at line 217 of file trajectory_execution_monitor.cpp.

void TrajectoryExecutionMonitor::executeTrajectories	(	const std::vector< TrajectoryExecutionRequest > &	to_execute,
		const boost::function< bool(TrajectoryExecutionDataVector)> &	done_callback
	)