#include <interaction_handler.h>

Inheritance diagram for robot_interaction::InteractionHandler:

Public Member Functions
void	clearError ()
	Clear any error settings. This makes the markers appear as if the state is no longer invalid. More...

void	clearLastEndEffectorMarkerPose (const EndEffectorInteraction &eef)
	Clear the last interactive_marker command pose for the given end-effector. More...

void	clearLastJointMarkerPose (const JointInteraction &vj)
	Clear the last interactive_marker command pose for the given joint. More...

void	clearLastMarkerPoses ()
	Clear the last interactive_marker command poses for all end-effectors and joints. More...

void	clearMenuHandler ()
	Remove the menu handler for this interaction handler. More...

void	clearPoseOffset (const EndEffectorInteraction &eef)
	Clear the interactive marker pose offset for the given end-effector. More...

void	clearPoseOffset (const JointInteraction &vj)
	Clear the interactive marker pose offset for the given joint. More...

void	clearPoseOffsets ()
	Clear the pose offset for all end-effectors and virtual joints. More...

bool	getControlsVisible () const

bool	getLastEndEffectorMarkerPose (const EndEffectorInteraction &eef, geometry_msgs::PoseStamped &pose)
	Get the last interactive_marker command pose for an end-effector. More...

bool	getLastJointMarkerPose (const JointInteraction &vj, geometry_msgs::PoseStamped &pose)
	Get the last interactive_marker command pose for a joint. More...

const std::shared_ptr< interactive_markers::MenuHandler > &	getMenuHandler ()
	Get the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler. More...

bool	getMeshesVisible () const

const std::string &	getName () const

bool	getPoseOffset (const EndEffectorInteraction &eef, geometry_msgs::Pose &m)
	Get the offset from EEF to its marker. More...

bool	getPoseOffset (const JointInteraction &vj, geometry_msgs::Pose &m)
	Get the offset from a joint to its marker. More...

moveit::core::RobotStateConstPtr	getState () const
	Get a copy of the RobotState maintained by this InteractionHandler. More...

const InteractionHandlerCallbackFn &	getUpdateCallback () const

virtual void	handleEndEffector (const EndEffectorInteraction &eef, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message. More...

virtual void	handleGeneric (const GenericInteraction &g, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message. More...

virtual void	handleJoint (const JointInteraction &vj, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message. More...

virtual bool	inError (const EndEffectorInteraction &eef) const
	Check if the marker corresponding to this end-effector leads to an invalid state. More...

virtual bool	inError (const GenericInteraction &g) const
	Check if the generic marker to an invalid state. More...

virtual bool	inError (const JointInteraction &vj) const
	Check if the marker corresponding to this joint leads to an invalid state. More...

	InteractionHandler (const RobotInteractionPtr &robot_interaction, const std::string &name, const moveit::core::RobotState &initial_robot_state, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >())

	InteractionHandler (const RobotInteractionPtr &robot_interaction, const std::string &name, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >())

	InteractionHandler (const std::string &name, const moveit::core::RobotModelConstPtr &model, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >())

	InteractionHandler (const std::string &name, const moveit::core::RobotState &initial_robot_state, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >())

void	setControlsVisible (bool visible)

void	setMenuHandler (const std::shared_ptr< interactive_markers::MenuHandler > &mh)
	Set the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler. More...

void	setMeshesVisible (bool visible)

void	setPoseOffset (const EndEffectorInteraction &eef, const geometry_msgs::Pose &m)
	Set the offset from EEF to its marker. More...

void	setPoseOffset (const JointInteraction &j, const geometry_msgs::Pose &m)
	Set the offset from a joint to its marker. More...

void	setState (const moveit::core::RobotState &state)
	Set a new RobotState for this InteractionHandler. More...

void	setUpdateCallback (const InteractionHandlerCallbackFn &callback)

	~InteractionHandler () override

Public Member Functions inherited from robot_interaction::LockedRobotState
moveit::core::RobotStateConstPtr	getState () const
	get read-only access to the state. More...

	LockedRobotState (const moveit::core::RobotModelPtr &model)

	LockedRobotState (const moveit::core::RobotState &state)

void	modifyState (const ModifyStateFunction &modify)

void	setState (const moveit::core::RobotState &state)
	Set the state to the new value. More...

virtual	~LockedRobotState ()

Protected Member Functions
bool	transformFeedbackPose (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, const geometry_msgs::Pose &offset, geometry_msgs::PoseStamped &tpose)

Protected Member Functions inherited from robot_interaction::LockedRobotState
virtual void	robotStateChanged ()

Protected Attributes
const std::string	name_

const std::string	planning_frame_

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

Protected Attributes inherited from robot_interaction::LockedRobotState
boost::mutex	state_lock_

Private Types
typedef boost::function< void(InteractionHandler *)>	StateChangeCallbackFn

Private Member Functions
bool	getErrorState (const std::string &name) const

bool	setErrorState (const std::string &name, bool new_error_state)

void	updateStateEndEffector (moveit::core::RobotState &state, const EndEffectorInteraction &eef, const geometry_msgs::Pose &pose, StateChangeCallbackFn &callback)

void	updateStateGeneric (moveit::core::RobotState &state, const GenericInteraction &g, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback, StateChangeCallbackFn &callback)

void	updateStateJoint (moveit::core::RobotState &state, const JointInteraction &vj, const geometry_msgs::Pose &pose, StateChangeCallbackFn &callback)

Static Private Member Functions
static std::string	fixName (std::string name)

Private Attributes
bool	display_controls_

bool	display_meshes_

std::set< std::string >	error_state_

KinematicOptionsMapPtr	kinematic_options_map_

std::shared_ptr< interactive_markers::MenuHandler >	menu_handler_

std::map< std::string, geometry_msgs::Pose >	offset_map_

boost::mutex	offset_map_lock_

std::map< std::string, geometry_msgs::PoseStamped >	pose_map_

boost::mutex	pose_map_lock_

boost::function< void(InteractionHandler *handler, bool error_state_changed)>	update_callback_

Additional Inherited Members
Public Types inherited from robot_interaction::LockedRobotState
typedef boost::function< void(moveit::core::RobotState *)>	ModifyStateFunction

Detailed Description

Manage interactive markers to control a RobotState.

Each instance maintains one or more interactive markers to control various joints in one group of one RobotState. The group being controlled is maintained by the RobotInteraction object that contains this InteractionHandler object. All InteractionHandler objects in the same RobotInteraction are controlling the same group.

Definition at line 108 of file interaction_handler.h.

Member Typedef Documentation

◆ StateChangeCallbackFn

typedef boost::function<void(InteractionHandler*)> robot_interaction::InteractionHandler::StateChangeCallbackFn

private

Definition at line 262 of file interaction_handler.h.

Constructor & Destructor Documentation

◆ InteractionHandler() [1/4]

robot_interaction::InteractionHandler::InteractionHandler	(	const RobotInteractionPtr &	robot_interaction,
		const std::string &	name,
		const moveit::core::RobotState &	initial_robot_state,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = `std::shared_ptr<tf2_ros::Buffer>()`
	)

Definition at line 90 of file interaction_handler.cpp.

◆ InteractionHandler() [2/4]

robot_interaction::InteractionHandler::InteractionHandler	(	const RobotInteractionPtr &	robot_interaction,
		const std::string &	name,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = `std::shared_ptr<tf2_ros::Buffer>()`
	)

Definition at line 103 of file interaction_handler.cpp.

◆ InteractionHandler() [3/4]

robot_interaction::InteractionHandler::InteractionHandler	(	const std::string &	name,
		const moveit::core::RobotState &	initial_robot_state,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = `std::shared_ptr< tf2_ros::Buffer >()`
	)

◆ InteractionHandler() [4/4]

robot_interaction::InteractionHandler::InteractionHandler	(	const std::string &	name,
		const moveit::core::RobotModelConstPtr &	model,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = `std::shared_ptr< tf2_ros::Buffer >()`
	)

◆ ~InteractionHandler()

robot_interaction::InteractionHandler::~InteractionHandler ( )

inlineoverride

Definition at line 127 of file interaction_handler.h.

Member Function Documentation

◆ clearError()

void robot_interaction::InteractionHandler::clearError ( )

Clear any error settings. This makes the markers appear as if the state is no longer invalid.

Definition at line 377 of file interaction_handler.cpp.

◆ clearLastEndEffectorMarkerPose()

void robot_interaction::InteractionHandler::clearLastEndEffectorMarkerPose ( const EndEffectorInteraction & eef )

Clear the last interactive_marker command pose for the given end-effector.

Parameters

The	target end-effector.

Definition at line 199 of file interaction_handler.cpp.

◆ clearLastJointMarkerPose()

void robot_interaction::InteractionHandler::clearLastJointMarkerPose ( const JointInteraction & vj )

Clear the last interactive_marker command pose for the given joint.

Parameters

The	target joint.

Definition at line 205 of file interaction_handler.cpp.

◆ clearLastMarkerPoses()

void robot_interaction::InteractionHandler::clearLastMarkerPoses ( )

Clear the last interactive_marker command poses for all end-effectors and joints.

Definition at line 211 of file interaction_handler.cpp.

◆ clearMenuHandler()

void robot_interaction::InteractionHandler::clearMenuHandler ( )

Remove the menu handler for this interaction handler.

Definition at line 229 of file interaction_handler.cpp.

◆ clearPoseOffset() [1/2]

void robot_interaction::InteractionHandler::clearPoseOffset ( const EndEffectorInteraction & eef )

Clear the interactive marker pose offset for the given end-effector.

Parameters

The	target end-effector.

Definition at line 133 of file interaction_handler.cpp.

◆ clearPoseOffset() [2/2]

void robot_interaction::InteractionHandler::clearPoseOffset ( const JointInteraction & vj )

Clear the interactive marker pose offset for the given joint.

Parameters

The	target joint.

Definition at line 139 of file interaction_handler.cpp.

◆ clearPoseOffsets()

void robot_interaction::InteractionHandler::clearPoseOffsets ( )

Clear the pose offset for all end-effectors and virtual joints.

Definition at line 145 of file interaction_handler.cpp.

◆ fixName()

std::string robot_interaction::InteractionHandler::fixName ( std::string name )

staticprivate

Definition at line 115 of file interaction_handler.cpp.

◆ getControlsVisible()

bool robot_interaction::InteractionHandler::getControlsVisible ( ) const

Definition at line 471 of file interaction_handler.cpp.

◆ getErrorState()

bool robot_interaction::InteractionHandler::getErrorState ( const std::string & name ) const

private

Get the error state for name. True if Interaction name is not in a valid pose.

Definition at line 400 of file interaction_handler.cpp.

◆ getLastEndEffectorMarkerPose()

bool robot_interaction::InteractionHandler::getLastEndEffectorMarkerPose	(	const EndEffectorInteraction &	eef,
		geometry_msgs::PoseStamped &	pose
	)

Get the last interactive_marker command pose for an end-effector.

Parameters

The	end-effector in question.
A	PoseStamped message containing the last (offset-removed) pose commanded for the end-effector.

Returns: True if a pose for that end-effector was found, false otherwise.

Definition at line 175 of file interaction_handler.cpp.

◆ getLastJointMarkerPose()

bool robot_interaction::InteractionHandler::getLastJointMarkerPose	(	const JointInteraction &	vj,
		geometry_msgs::PoseStamped &	pose
	)

Get the last interactive_marker command pose for a joint.

Parameters

The	joint in question.
A	PoseStamped message containing the last (offset-removed) pose commanded for the joint.

Returns: True if a pose for that joint was found, false otherwise.

Definition at line 187 of file interaction_handler.cpp.

◆ getMenuHandler()

const std::shared_ptr< interactive_markers::MenuHandler > & robot_interaction::InteractionHandler::getMenuHandler ( )

Get the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

Returns: The menu handler.

Definition at line 223 of file interaction_handler.cpp.

◆ getMeshesVisible()

bool robot_interaction::InteractionHandler::getMeshesVisible ( ) const

Definition at line 459 of file interaction_handler.cpp.

◆ getName()

const std::string& robot_interaction::InteractionHandler::getName ( ) const

inline

Definition at line 131 of file interaction_handler.h.

◆ getPoseOffset() [1/2]

bool robot_interaction::InteractionHandler::getPoseOffset	(	const EndEffectorInteraction &	eef,
		geometry_msgs::Pose &	m
	)

Get the offset from EEF to its marker.

Parameters

The	target end-effector.
The	pose offset (only valid if return value is true).

Returns: True if an offset was found for the given end-effector.

Definition at line 151 of file interaction_handler.cpp.

◆ getPoseOffset() [2/2]

bool robot_interaction::InteractionHandler::getPoseOffset	(	const JointInteraction &	vj,
		geometry_msgs::Pose &	m
	)

Get the offset from a joint to its marker.

Parameters

vj	The joint.
m	The pose offset (only valid if return value is true).

Returns: True if an offset was found for the given joint.

Definition at line 163 of file interaction_handler.cpp.

◆ getState()

moveit::core::RobotStateConstPtr robot_interaction::LockedRobotState::getState

Get a copy of the RobotState maintained by this InteractionHandler.

Definition at line 56 of file locked_robot_state.cpp.

◆ getUpdateCallback()

const InteractionHandlerCallbackFn & robot_interaction::InteractionHandler::getUpdateCallback ( ) const

Definition at line 447 of file interaction_handler.cpp.

◆ handleEndEffector()

void robot_interaction::InteractionHandler::handleEndEffector	(	const EndEffectorInteraction &	eef,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)

virtual

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 252 of file interaction_handler.cpp.

◆ handleGeneric()

void robot_interaction::InteractionHandler::handleGeneric	(	const GenericInteraction &	g,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)

virtual

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 235 of file interaction_handler.cpp.

◆ handleJoint()

void robot_interaction::InteractionHandler::handleJoint	(	const JointInteraction &	vj,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback
	)

virtual

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 284 of file interaction_handler.cpp.

◆ inError() [1/3]

bool robot_interaction::InteractionHandler::inError ( const EndEffectorInteraction & eef ) const

virtual

Check if the marker corresponding to this end-effector leads to an invalid state.

Definition at line 362 of file interaction_handler.cpp.

◆ inError() [2/3]

bool robot_interaction::InteractionHandler::inError ( const GenericInteraction & g ) const

virtual

Check if the generic marker to an invalid state.

Definition at line 367 of file interaction_handler.cpp.

◆ inError() [3/3]

bool robot_interaction::InteractionHandler::inError ( const JointInteraction & vj ) const

virtual

Check if the marker corresponding to this joint leads to an invalid state.

Definition at line 372 of file interaction_handler.cpp.

◆ setControlsVisible()

void robot_interaction::InteractionHandler::setControlsVisible ( bool visible )

Definition at line 465 of file interaction_handler.cpp.

◆ setErrorState()

bool robot_interaction::InteractionHandler::setErrorState	(	const std::string &	name,
		bool	new_error_state
	)

private

Definition at line 385 of file interaction_handler.cpp.

◆ setMenuHandler()

void robot_interaction::InteractionHandler::setMenuHandler ( const std::shared_ptr< interactive_markers::MenuHandler > & mh )

Set the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

Parameters

A	menu handler.

Definition at line 217 of file interaction_handler.cpp.

◆ setMeshesVisible()

void robot_interaction::InteractionHandler::setMeshesVisible ( bool visible )

Definition at line 453 of file interaction_handler.cpp.

◆ setPoseOffset() [1/2]

void robot_interaction::InteractionHandler::setPoseOffset	(	const EndEffectorInteraction &	eef,
		const geometry_msgs::Pose &	m
	)

Set the offset from EEF to its marker.

Parameters

eef	The target end-effector.
m	The pose of the marker in the frame of the end-effector parent.

Definition at line 121 of file interaction_handler.cpp.

◆ setPoseOffset() [2/2]

void robot_interaction::InteractionHandler::setPoseOffset	(	const JointInteraction &	j,
		const geometry_msgs::Pose &	m
	)

Set the offset from a joint to its marker.

Parameters

j	The target joint.
m	The pose of the marker in the frame of the joint parent.

Definition at line 127 of file interaction_handler.cpp.

◆ setState()

void robot_interaction::LockedRobotState::setState

Set a new RobotState for this InteractionHandler.

Definition at line 62 of file locked_robot_state.cpp.

◆ setUpdateCallback()

void robot_interaction::InteractionHandler::setUpdateCallback ( const InteractionHandlerCallbackFn & callback )

Definition at line 441 of file interaction_handler.cpp.

◆ transformFeedbackPose()

bool robot_interaction::InteractionHandler::transformFeedbackPose	(	const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		const geometry_msgs::Pose &	offset,
		geometry_msgs::PoseStamped &	tpose
	)

protected

Definition at line 406 of file interaction_handler.cpp.

◆ updateStateEndEffector()

void robot_interaction::InteractionHandler::updateStateEndEffector	(	moveit::core::RobotState &	state,
		const EndEffectorInteraction &	eef,
		const geometry_msgs::Pose &	pose,
		StateChangeCallbackFn &	callback
	)

private

Definition at line 330 of file interaction_handler.cpp.

◆ updateStateGeneric()

void robot_interaction::InteractionHandler::updateStateGeneric	(	moveit::core::RobotState &	state,
		const GenericInteraction &	g,
		const visualization_msgs::InteractiveMarkerFeedbackConstPtr &	feedback,
		StateChangeCallbackFn &	callback
	)

private

Definition at line 317 of file interaction_handler.cpp.

◆ updateStateJoint()

void robot_interaction::InteractionHandler::updateStateJoint	(	moveit::core::RobotState &	state,
		const JointInteraction &	vj,
		const geometry_msgs::Pose &	pose,
		StateChangeCallbackFn &	callback
	)

private

Definition at line 346 of file interaction_handler.cpp.

Member Data Documentation

◆ display_controls_

bool robot_interaction::InteractionHandler::display_controls_

private

Definition at line 340 of file interaction_handler.h.

◆ display_meshes_

bool robot_interaction::InteractionHandler::display_meshes_

private

Definition at line 337 of file interaction_handler.h.

◆ error_state_

std::set<std::string> robot_interaction::InteractionHandler::error_state_

private

Definition at line 317 of file interaction_handler.h.

◆ kinematic_options_map_

KinematicOptionsMapPtr robot_interaction::InteractionHandler::kinematic_options_map_

private

Definition at line 313 of file interaction_handler.h.

◆ menu_handler_

std::shared_ptr<interactive_markers::MenuHandler> robot_interaction::InteractionHandler::menu_handler_

private

Definition at line 324 of file interaction_handler.h.

◆ name_

const std::string robot_interaction::InteractionHandler::name_

protected

Definition at line 257 of file interaction_handler.h.

◆ offset_map_

std::map<std::string, geometry_msgs::Pose> robot_interaction::InteractionHandler::offset_map_

private

Definition at line 296 of file interaction_handler.h.

◆ offset_map_lock_

boost::mutex robot_interaction::InteractionHandler::offset_map_lock_

private

Definition at line 308 of file interaction_handler.h.

◆ planning_frame_

const std::string robot_interaction::InteractionHandler::planning_frame_

protected

Definition at line 258 of file interaction_handler.h.

◆ pose_map_

std::map<std::string, geometry_msgs::PoseStamped> robot_interaction::InteractionHandler::pose_map_

private

Definition at line 305 of file interaction_handler.h.

◆ pose_map_lock_

boost::mutex robot_interaction::InteractionHandler::pose_map_lock_

private

Definition at line 307 of file interaction_handler.h.

◆ tf_buffer_

std::shared_ptr<tf2_ros::Buffer> robot_interaction::InteractionHandler::tf_buffer_

protected

Definition at line 259 of file interaction_handler.h.

◆ update_callback_

boost::function<void(InteractionHandler* handler, bool error_state_changed)> robot_interaction::InteractionHandler::update_callback_

private

Definition at line 334 of file interaction_handler.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ StateChangeCallbackFn

Constructor & Destructor Documentation

◆ InteractionHandler() [1/4]

◆ InteractionHandler() [2/4]

◆ InteractionHandler() [3/4]

◆ InteractionHandler() [4/4]

◆ ~InteractionHandler()

Member Function Documentation

◆ clearError()

◆ clearLastEndEffectorMarkerPose()

◆ clearLastJointMarkerPose()

◆ clearLastMarkerPoses()

◆ clearMenuHandler()

◆ clearPoseOffset() [1/2]

◆ clearPoseOffset() [2/2]

◆ clearPoseOffsets()

◆ fixName()

◆ getControlsVisible()

◆ getErrorState()

◆ getLastEndEffectorMarkerPose()

◆ getLastJointMarkerPose()

◆ getMenuHandler()

◆ getMeshesVisible()

◆ getName()

◆ getPoseOffset() [1/2]

◆ getPoseOffset() [2/2]

◆ getState()

◆ getUpdateCallback()

◆ handleEndEffector()

◆ handleGeneric()

◆ handleJoint()

◆ inError() [1/3]

◆ inError() [2/3]

◆ inError() [3/3]

◆ setControlsVisible()

◆ setErrorState()

◆ setMenuHandler()

◆ setMeshesVisible()

◆ setPoseOffset() [1/2]

◆ setPoseOffset() [2/2]

◆ setState()

◆ setUpdateCallback()

◆ transformFeedbackPose()

◆ updateStateEndEffector()

◆ updateStateGeneric()

◆ updateStateJoint()

Member Data Documentation

◆ display_controls_

◆ display_meshes_

◆ error_state_

◆ kinematic_options_map_

◆ menu_handler_

◆ name_

◆ offset_map_

◆ offset_map_lock_

◆ planning_frame_

◆ pose_map_

◆ pose_map_lock_

◆ tf_buffer_

◆ update_callback_