#include <choreo_visual_tools.h>

Public Member Functions
	ChoreoVisualTools ()

void	cleanUpAllPaths ()

int	getPathArraySize ()

void	init (std::string frame_name, std::string marker_topic, robot_model::RobotModelConstPtr robot_model=robot_model::RobotModelConstPtr())

void	setAssemblySequencePickNPlace (const choreo_msgs::AssemblySequencePickNPlace &as_pnp)

void	setProcessPath (const PathArray &path_array)

void	setVisualWireFrame (const PathArray &path_array)

void	visualizeAllPaths ()

void	visualizeAllSequencePickNPlace ()

void	visualizeAllWireFrame ()

void	visualizeFeasibleOrientations (int index, bool solid)

void	visualizeGraspPickNPlace (int index, int grasp_id, bool visualize_ee)

void	visualizePathUntil (int index)

void	visualizeSequencePickNPlaceUntil (int index)

void	visualizeSupportSurfaces ()

void	visualizeSupportSurfaces (const std::vector< std::string > &pick_contact_surf_names, const std::vector< std::string > &place_contact_surf_names)

void	visualizeWireFrameUntilLayer (int index)

virtual	~ChoreoVisualTools ()

Protected Member Functions
void	convertPathVisual (const PathArray &path_array, VisualPathArray &visual_path_array)

void	convertWireFrameVisual (const PathArray &path_array, VisualPathArray &visual_path_array)

Private Types
typedef std::vector< choreo_msgs::ElementCandidatePoses >	PathArray

typedef std::vector< choreo_visual_tools::VisualUnitProcessPath >	VisualPathArray

Private Attributes
choreo_msgs::AssemblySequencePickNPlace	as_pnp_

ros::NodeHandle	nh_

PathArray	path_array_

moveit::core::RobotModelConstPtr	robot_model_

VisualPathArray	visual_path_array_

moveit_visual_tools::MoveItVisualToolsPtr	visual_tools_

Detailed Description

Definition at line 43 of file choreo_visual_tools.h.

Member Typedef Documentation

typedef std::vector<choreo_msgs::ElementCandidatePoses> choreo_visual_tools::ChoreoVisualTools::PathArray

private

Definition at line 45 of file choreo_visual_tools.h.

typedef std::vector<choreo_visual_tools::VisualUnitProcessPath> choreo_visual_tools::ChoreoVisualTools::VisualPathArray

private

Definition at line 46 of file choreo_visual_tools.h.

Constructor & Destructor Documentation

choreo_visual_tools::ChoreoVisualTools::ChoreoVisualTools ( )

inline

Definition at line 49 of file choreo_visual_tools.h.

virtual choreo_visual_tools::ChoreoVisualTools::~ChoreoVisualTools ( )

inlinevirtual

Definition at line 50 of file choreo_visual_tools.h.

Member Function Documentation

void choreo_visual_tools::ChoreoVisualTools::cleanUpAllPaths ( )

Definition at line 466 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::convertPathVisual	(	const PathArray &	path_array,
		VisualPathArray &	visual_path_array
	)

protected

Definition at line 60 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::convertWireFrameVisual	(	const PathArray &	path_array,
		VisualPathArray &	visual_path_array
	)

protected

Definition at line 100 of file choreo_visual_tools.cpp.

int choreo_visual_tools::ChoreoVisualTools::getPathArraySize ( )

inline

Definition at line 76 of file choreo_visual_tools.h.

void choreo_visual_tools::ChoreoVisualTools::init	(	std::string	frame_name,
		std::string	marker_topic,
		robot_model::RobotModelConstPtr	robot_model = `robot_model::RobotModelConstPtr()`
	)

Definition at line 45 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::setAssemblySequencePickNPlace ( const choreo_msgs::AssemblySequencePickNPlace & as_pnp )

inline

Definition at line 101 of file choreo_visual_tools.h.

void choreo_visual_tools::ChoreoVisualTools::setProcessPath ( const PathArray & path_array )

inline

Definition at line 70 of file choreo_visual_tools.h.

void choreo_visual_tools::ChoreoVisualTools::setVisualWireFrame ( const PathArray & path_array )

inline

Definition at line 63 of file choreo_visual_tools.h.

void choreo_visual_tools::ChoreoVisualTools::visualizeAllPaths ( )

Definition at line 119 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::visualizeAllSequencePickNPlace ( )

Definition at line 154 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::visualizeAllWireFrame ( )

Definition at line 386 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::visualizeFeasibleOrientations	(	int	index,
		bool	solid
	)

Definition at line 291 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::visualizeGraspPickNPlace	(	int	index,
		int	grasp_id,
		bool	visualize_ee
	)

Definition at line 335 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::visualizePathUntil ( int index )

Definition at line 185 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::visualizeSequencePickNPlaceUntil ( int index )

Definition at line 212 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::visualizeSupportSurfaces ( )

Definition at line 404 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::visualizeSupportSurfaces	(	const std::vector< std::string > &	pick_contact_surf_names,
		const std::vector< std::string > &	place_contact_surf_names
	)

Definition at line 412 of file choreo_visual_tools.cpp.

void choreo_visual_tools::ChoreoVisualTools::visualizeWireFrameUntilLayer ( int index )

Member Data Documentation

choreo_msgs::AssemblySequencePickNPlace choreo_visual_tools::ChoreoVisualTools::as_pnp_

private

Definition at line 130 of file choreo_visual_tools.h.

ros::NodeHandle choreo_visual_tools::ChoreoVisualTools::nh_

private

Definition at line 122 of file choreo_visual_tools.h.

PathArray choreo_visual_tools::ChoreoVisualTools::path_array_

private

Definition at line 126 of file choreo_visual_tools.h.

moveit::core::RobotModelConstPtr choreo_visual_tools::ChoreoVisualTools::robot_model_

private

Definition at line 133 of file choreo_visual_tools.h.

VisualPathArray choreo_visual_tools::ChoreoVisualTools::visual_path_array_

private

Definition at line 127 of file choreo_visual_tools.h.

moveit_visual_tools::MoveItVisualToolsPtr choreo_visual_tools::ChoreoVisualTools::visual_tools_

private

Definition at line 124 of file choreo_visual_tools.h.

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

Public Member Functions

Protected Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation