planning_scene_monitor::TrajectoryMonitor Class Reference

Monitors the joint_states topic and tf to record the trajectory of the robot. More...

#include <trajectory_monitor.h>

Public Member Functions
void	clearTrajectory ()
double	getSamplingFrequency () const
const robot_trajectory::RobotTrajectory &	getTrajectory ()
bool	isActive () const
void	setOnStateAddCallback (const TrajectoryStateAddedCallback &callback)
void	setSamplingFrequency (double sampling_frequency)
void	startTrajectoryMonitor ()
void	stopTrajectoryMonitor ()
void	swapTrajectory (robot_trajectory::RobotTrajectory &other)
	TrajectoryMonitor (const CurrentStateMonitorConstPtr &state_monitor, double sampling_frequency=5.0)
	Constructor. More...
	~TrajectoryMonitor ()

Private Member Functions
void	recordStates ()

Private Attributes
CurrentStateMonitorConstPtr	current_state_monitor_
ros::Time	last_recorded_state_time_
std::unique_ptr< boost::thread >	record_states_thread_
double	sampling_frequency_
TrajectoryStateAddedCallback	state_add_callback_
robot_trajectory::RobotTrajectory	trajectory_
ros::Time	trajectory_start_time_

Detailed Description

Monitors the joint_states topic and tf to record the trajectory of the robot.

Definition at line 55 of file trajectory_monitor.h.

Constructor & Destructor Documentation

planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor	(	const CurrentStateMonitorConstPtr &	state_monitor,
		double	sampling_frequency = 5.0
	)

Constructor.

Definition at line 43 of file trajectory_monitor.cpp.

planning_scene_monitor::TrajectoryMonitor::~TrajectoryMonitor

(

)

Definition at line 52 of file trajectory_monitor.cpp.

Member Function Documentation

void planning_scene_monitor::TrajectoryMonitor::clearTrajectory

(

)

Definition at line 90 of file trajectory_monitor.cpp.

double planning_scene_monitor::TrajectoryMonitor::getSamplingFrequency ( ) const

inline

Definition at line 72 of file trajectory_monitor.h.

const robot_trajectory::RobotTrajectory& planning_scene_monitor::TrajectoryMonitor::getTrajectory ( )

inline

Return the current maintained trajectory. This function is not thread safe (hence NOT const), because the trajectory could be modified.

Definition at line 81 of file trajectory_monitor.h.

bool planning_scene_monitor::TrajectoryMonitor::isActive

(

)

const

Definition at line 65 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::recordStates ( )

private

Definition at line 100 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::setOnStateAddCallback ( const TrajectoryStateAddedCallback &  callback )

inline

Definition at line 91 of file trajectory_monitor.h.

void planning_scene_monitor::TrajectoryMonitor::setSamplingFrequency

(

double

sampling_frequency

)

Definition at line 57 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::startTrajectoryMonitor

(

)

Definition at line 70 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::stopTrajectoryMonitor

(

)

Definition at line 79 of file trajectory_monitor.cpp.

void planning_scene_monitor::TrajectoryMonitor::swapTrajectory ( robot_trajectory::RobotTrajectory &  other )

inline

Definition at line 86 of file trajectory_monitor.h.

Member Data Documentation

CurrentStateMonitorConstPtr planning_scene_monitor::TrajectoryMonitor::current_state_monitor_

private

Definition at line 99 of file trajectory_monitor.h.

ros::Time planning_scene_monitor::TrajectoryMonitor::last_recorded_state_time_

private

Definition at line 104 of file trajectory_monitor.h.

std::unique_ptr<boost::thread> planning_scene_monitor::TrajectoryMonitor::record_states_thread_

private

Definition at line 106 of file trajectory_monitor.h.

double planning_scene_monitor::TrajectoryMonitor::sampling_frequency_

private

Definition at line 100 of file trajectory_monitor.h.

TrajectoryStateAddedCallback planning_scene_monitor::TrajectoryMonitor::state_add_callback_

private

Definition at line 107 of file trajectory_monitor.h.

robot_trajectory::RobotTrajectory planning_scene_monitor::TrajectoryMonitor::trajectory_

private

Definition at line 102 of file trajectory_monitor.h.

ros::Time planning_scene_monitor::TrajectoryMonitor::trajectory_start_time_

private

Definition at line 103 of file trajectory_monitor.h.

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

• trajectory_monitor.h
• trajectory_monitor.cpp