robot_interaction Namespace Reference

Namespaces
	InteractionStyle

Classes
struct	EndEffectorInteraction
struct	GenericInteraction
class	InteractionHandler
struct	JointInteraction
struct	KinematicOptions
class	KinematicOptionsMap
class	LockedRobotState
	Maintain a RobotState in a multithreaded environment. More...
class	RobotInteraction

Typedefs
typedef boost::function< void(InteractionHandler *, bool)>	InteractionHandlerCallbackFn
typedef boost::function< bool(const moveit::core::RobotState &state, visualization_msgs::InteractiveMarker &marker)>	InteractiveMarkerConstructorFn
typedef boost::function< bool(const moveit::core::RobotState &, geometry_msgs::Pose &)>	InteractiveMarkerUpdateFn
typedef boost::function< bool(moveit::core::RobotState &state, const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)>	ProcessFeedbackFn

Functions
void	add6DOFControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addErrorMarker (visualization_msgs::InteractiveMarker &im)
void	addOrientationControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addPlanarXYControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addPositionControl (visualization_msgs::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addTArrowMarker (visualization_msgs::InteractiveMarker &im)
void	addViewPlaneControl (visualization_msgs::InteractiveMarker &int_marker, double radius, const std_msgs::ColorRGBA &color, bool position=true, bool orientation=true)
static std::string	getMarkerName (const InteractionHandlerPtr &handler, const EndEffectorInteraction &eef)
static std::string	getMarkerName (const InteractionHandlerPtr &handler, const GenericInteraction &g)
static std::string	getMarkerName (const InteractionHandlerPtr &handler, const JointInteraction &vj)
visualization_msgs::InteractiveMarker	make6DOFMarker (const std::string &name, const geometry_msgs::PoseStamped &stamped, double scale, bool orientation_fixed=false)
visualization_msgs::InteractiveMarker	makeEmptyInteractiveMarker (const std::string &name, const geometry_msgs::PoseStamped &stamped, double scale)
visualization_msgs::InteractiveMarker	makePlanarXYMarker (const std::string &name, const geometry_msgs::PoseStamped &stamped, double scale, bool orientation_fixed=false)
	MOVEIT_CLASS_FORWARD (InteractionHandler)
	MOVEIT_CLASS_FORWARD (KinematicOptionsMap)
	MOVEIT_CLASS_FORWARD (LockedRobotState)
	MOVEIT_CLASS_FORWARD (RobotInteraction)

Variables
static const double	DEFAULT_SCALE = 0.25
static const float	END_EFFECTOR_REACHABLE_COLOR [4] = { 0.2, 1.0, 0.2, 1.0 }
static const float	END_EFFECTOR_UNREACHABLE_COLOR [4] = { 1.0, 0.3, 0.3, 1.0 }
static const double	SQRT2INV = 0.707106781

Typedef Documentation

InteractionHandlerCallbackFn

typedef boost::function<void(InteractionHandler*, bool)> robot_interaction::InteractionHandlerCallbackFn

Function type for notifying client of RobotState changes.

This callback function is called by the InteractionHandler::handle* functions, when changes are made to the internal robot state the handler maintains. The handler passes its own pointer as argument to the callback, as well as a boolean flag that indicates whether the error state changed – whether updates to the robot state performed in the InteractionHandler::handle* functions have switched from failing to succeeding or the other way around.

Definition at line 87 of file interaction_handler.h.

InteractiveMarkerConstructorFn

typedef boost::function<bool(const moveit::core::RobotState& state, visualization_msgs::InteractiveMarker& marker)> robot_interaction::InteractiveMarkerConstructorFn

Type of function for constructing markers. This callback sets up the marker used for an interaction.

Parameters

state	the current state of the robot
marker	the function should fill this in with an InteractiveMarker that will be used to control the interaction.

Returns

true if the function succeeds, false if the function was not able to fill in marker.

Definition at line 88 of file interaction.h.

InteractiveMarkerUpdateFn

typedef boost::function<bool(const moveit::core::RobotState&, geometry_msgs::Pose&)> robot_interaction::InteractiveMarkerUpdateFn

Type of function for updating marker pose for new state. This callback is called when the robot state has changed. Callback should calculate a new pose for the marker based on the passed in robot state.

Parameters

state	the new state of the robot
pose	the function should fill this in with the new pose of the marker, given the new state of the robot.

Returns

true if the pose was modified, false if no update is needed (i.e. if the pose did not change).

Definition at line 114 of file interaction.h.

ProcessFeedbackFn

typedef boost::function<bool(moveit::core::RobotState& state, const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback)> robot_interaction::ProcessFeedbackFn

Type of function for processing marker feedback. This callback function handles feedback for an Interaction's marker. Callback should update the robot state that was passed in according to the new position of the marker.

Parameters

state	the current state of the robot
marker	the function should fill this in with an InteractiveMarker that will be used to control the interaction.

Returns

false if the state was not successfully updated or the new state is somehow invalid or erronious (e.g. in collision). true if everything worked well.

Definition at line 103 of file interaction.h.

Function Documentation

add6DOFControl()

void robot_interaction::add6DOFControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = false
	)

Definition at line 204 of file interactive_marker_helpers.cpp.

addErrorMarker()

void robot_interaction::addErrorMarker

(

visualization_msgs::InteractiveMarker &

im

)

Definition at line 144 of file interactive_marker_helpers.cpp.

addOrientationControl()

void robot_interaction::addOrientationControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = false
	)

Definition at line 210 of file interactive_marker_helpers.cpp.

addPlanarXYControl()

void robot_interaction::addPlanarXYControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = false
	)

Definition at line 176 of file interactive_marker_helpers.cpp.

addPositionControl()

void robot_interaction::addPositionControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		bool	orientation_fixed = false
	)

Definition at line 238 of file interactive_marker_helpers.cpp.

addTArrowMarker()

void robot_interaction::addTArrowMarker

(

visualization_msgs::InteractiveMarker &

im

)

Definition at line 88 of file interactive_marker_helpers.cpp.

addViewPlaneControl()

void robot_interaction::addViewPlaneControl	(	visualization_msgs::InteractiveMarker &	int_marker,
		double	radius,
		const std_msgs::ColorRGBA &	color,
		bool	position = true,
		bool	orientation = true
	)

Definition at line 266 of file interactive_marker_helpers.cpp.

getMarkerName() [1/3]

static std::string robot_interaction::getMarkerName ( const InteractionHandlerPtr &  handler, const EndEffectorInteraction &  eef  )

inlinestatic

Definition at line 467 of file robot_interaction.cpp.

getMarkerName() [2/3]

static std::string robot_interaction::getMarkerName ( const InteractionHandlerPtr &  handler, const GenericInteraction &  g  )

inlinestatic

Definition at line 477 of file robot_interaction.cpp.

getMarkerName() [3/3]

static std::string robot_interaction::getMarkerName ( const InteractionHandlerPtr &  handler, const JointInteraction &  vj  )

inlinestatic

Definition at line 472 of file robot_interaction.cpp.

make6DOFMarker()

visualization_msgs::InteractiveMarker robot_interaction::make6DOFMarker	(	const std::string &	name,
		const geometry_msgs::PoseStamped &	stamped,
		double	scale,
		bool	orientation_fixed = false
	)

Definition at line 303 of file interactive_marker_helpers.cpp.

makeEmptyInteractiveMarker()

visualization_msgs::InteractiveMarker robot_interaction::makeEmptyInteractiveMarker	(	const std::string &	name,
		const geometry_msgs::PoseStamped &	stamped,
		double	scale
	)

Definition at line 78 of file interactive_marker_helpers.cpp.

makePlanarXYMarker()

visualization_msgs::InteractiveMarker robot_interaction::makePlanarXYMarker	(	const std::string &	name,
		const geometry_msgs::PoseStamped &	stamped,
		double	scale,
		bool	orientation_fixed = false
	)

Definition at line 294 of file interactive_marker_helpers.cpp.

MOVEIT_CLASS_FORWARD() [1/4]

robot_interaction::MOVEIT_CLASS_FORWARD

(

InteractionHandler

)

MOVEIT_CLASS_FORWARD() [2/4]

robot_interaction::MOVEIT_CLASS_FORWARD

(

KinematicOptionsMap

)

MOVEIT_CLASS_FORWARD() [3/4]

robot_interaction::MOVEIT_CLASS_FORWARD

(

LockedRobotState

)

MOVEIT_CLASS_FORWARD() [4/4]

robot_interaction::MOVEIT_CLASS_FORWARD

(

RobotInteraction

)

Variable Documentation

DEFAULT_SCALE

const double robot_interaction::DEFAULT_SCALE = 0.25

static

Definition at line 149 of file robot_interaction.cpp.

END_EFFECTOR_REACHABLE_COLOR

const float robot_interaction::END_EFFECTOR_REACHABLE_COLOR[4] = { 0.2, 1.0, 0.2, 1.0 }

static

Definition at line 94 of file robot_interaction.cpp.

END_EFFECTOR_UNREACHABLE_COLOR

const float robot_interaction::END_EFFECTOR_UNREACHABLE_COLOR[4] = { 1.0, 0.3, 0.3, 1.0 }

static

Definition at line 93 of file robot_interaction.cpp.

SQRT2INV

const double robot_interaction::SQRT2INV = 0.707106781

static

Definition at line 174 of file interactive_marker_helpers.cpp.