#include <motion_planning_display.h>

Inheritance diagram for moveit_rviz_plugin::MotionPlanningDisplay:

[legend]

Signals
void	queryGoalStateChanged ()

void	queryStartStateChanged ()

Signals inherited from rviz::Display
void	timeSignal (ros::Time time, QPrivateSignal)

Signals inherited from rviz::Property
void	aboutToChange ()

void	changed ()

void	childListChanged (Property *this_property)

Public Member Functions
void	addStatusText (const std::string &text)

void	addStatusText (const std::vector< std::string > &text)

void	changePlanningGroup (const std::string &group)

void	clearPlaceLocationsDisplay ()

void	dropVisualizedTrajectory ()

std::string	getCurrentPlanningGroup () const

const moveit::core::RobotState &	getPreviousState () const

moveit::core::RobotStateConstPtr	getQueryGoalState () const

const robot_interaction::InteractionHandlerPtr &	getQueryGoalStateHandler () const

moveit::core::RobotStateConstPtr	getQueryStartState () const

const robot_interaction::InteractionHandlerPtr &	getQueryStartStateHandler () const

const robot_interaction::RobotInteractionPtr &	getRobotInteraction () const

void	load (const rviz::Config &config) override

	MotionPlanningDisplay ()

void	rememberPreviousStartState ()

void	reset () override

void	resetStatusTextColor ()

void	save (rviz::Config config) const override

void	setName (const QString &name) override

void	setQueryGoalState (const moveit::core::RobotState &goal)

void	setQueryStartState (const moveit::core::RobotState &start)

void	setStatusTextColor (const QColor &color)

void	toggleSelectPlanningGroupSubscription (bool enable)

void	update (float wall_dt, float ros_dt) override

void	updateQueryGoalState ()

void	updateQueryStartState ()

void	updateQueryStates (const moveit::core::RobotState &current_state)

void	useApproximateIK (bool flag)

void	visualizePlaceLocations (const std::vector< geometry_msgs::PoseStamped > &place_poses)

	~MotionPlanningDisplay () override

Public Member Functions inherited from moveit_rviz_plugin::PlanningSceneDisplay
void	addBackgroundJob (const boost::function< void()> &job, const std::string &name)

void	addMainLoopJob (const boost::function< void()> &job)
	queue the execution of this function for the next time the main update() loop gets called More...

void	clearJobs ()
	remove all queued jobs More...

const std::string	getMoveGroupNS () const

const planning_scene_monitor::PlanningSceneMonitorPtr &	getPlanningSceneMonitor ()

planning_scene_monitor::LockedPlanningSceneRO	getPlanningSceneRO () const
	get read-only access to planning scene More...

planning_scene_monitor::LockedPlanningSceneRW	getPlanningSceneRW ()
	get write access to planning scene More...

const moveit::core::RobotModelConstPtr &	getRobotModel () const

void	load (const rviz::Config &config) override

	PlanningSceneDisplay (bool listen_to_planning_scene=true, bool show_scene_robot=true)

void	queueRenderSceneGeometry ()

void	reset () override

void	save (rviz::Config config) const override

void	setLinkColor (const std::string &link_name, const QColor &color)

void	spawnBackgroundJob (const boost::function< void()> &job)

void	unsetLinkColor (const std::string &link_name)

void	update (float wall_dt, float ros_dt) override

void	waitForAllMainLoopJobs ()

bool	waitForCurrentRobotState (const ros::Time &t=ros::Time::now())
	wait for robot state more recent than t More...

	~PlanningSceneDisplay () override

Public Member Functions inherited from rviz::Display
virtual void	deleteStatus (const QString &name)

void	deleteStatusStd (const std::string &name)

	Display ()

void	emitTimeSignal (ros::Time time)

QWidget *	getAssociatedWidget () const

PanelDockWidget *	getAssociatedWidgetPanel ()

virtual QString	getClassId () const

Ogre::SceneNode *	getSceneNode () const

QVariant	getViewData (int column, int role) const override

Qt::ItemFlags	getViewFlags (int column) const override

uint32_t	getVisibilityBits ()

void	initialize (DisplayContext *context)

bool	isEnabled () const

void	setAssociatedWidget (QWidget *widget)

virtual void	setClassId (const QString &class_id)

void	setFixedFrame (const QString &fixed_frame)

virtual void	setStatus (StatusProperty::Level level, const QString &name, const QString &text)

void	setStatusStd (StatusProperty::Level level, const std::string &name, const std::string &text)

virtual void	setTopic (const QString &topic, const QString &datatype)

void	setVisibilityBits (uint32_t bits)

void	unsetVisibilityBits (uint32_t bits)

	~Display () override

Public Member Functions inherited from rviz::BoolProperty
	BoolProperty (const QString &name, bool default_value, const QString &description, P *parent, Func &&changed_slot)

	BoolProperty (const QString &name, bool default_value, const QString &description, Property parent, Func &&changed_slot, const R receiver)

	BoolProperty (const QString &name=QString(), bool default_value=false, const QString &description=QString(), Property *parent=nullptr)

virtual bool	getBool () const

bool	getDisableChildren () override

bool	getDisableChildrenIfFalse ()

void	setDisableChildrenIfFalse (bool disable)

	~BoolProperty () override

Public Member Functions inherited from rviz::Property
virtual void	addChild (Property *child, int index=-1)

Property *	childAt (int index) const

virtual Property *	childAtUnchecked (int index) const

virtual void	collapse ()

std::enable_if<!QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (const QObject *context, Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)

QMetaObject::Connection	connect (const QObject receiver, const char slot, Qt::ConnectionType type=Qt::AutoConnection)

std::enable_if< QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (const R *receiver, Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)

std::enable_if<!QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)

bool	contains (Property *possible_child) const

virtual QWidget *	createEditor (QWidget *parent, const QStyleOptionViewItem &option)

virtual void	expand ()

virtual QString	getDescription () const

virtual bool	getHidden () const

virtual QIcon	getIcon () const

PropertyTreeModel *	getModel () const

virtual QString	getName () const

std::string	getNameStd () const

Property *	getParent () const

virtual bool	getReadOnly () const

virtual QVariant	getValue () const

void	hide ()

void	insertChildSorted (Property *child)

bool	isAncestorOf (Property *possible_child) const

virtual void	moveChild (int from_index, int to_index)

virtual int	numChildren () const

virtual bool	paint (QPainter *painter, const QStyleOptionViewItem &option) const

	Property (const QString &name, const QVariant &default_value, const QString &description, P *parent, Func &&changed_slot)

	Property (const QString &name, const QVariant &default_value, const QString &description, Property parent, Func &&changed_slot, const R receiver)

	Property (const QString &name=QString(), const QVariant &default_value=QVariant(), const QString &description=QString(), Property *parent=nullptr)

virtual void	removeChildren (int start_index=0, int count=-1)

int	rowNumberInParent () const

virtual void	setDescription (const QString &description)

virtual void	setHidden (bool hidden)

virtual void	setIcon (const QIcon &icon)

void	setModel (PropertyTreeModel *model)

void	setParent (Property *new_parent)

virtual void	setReadOnly (bool read_only)

void	setShouldBeSaved (bool save)

virtual bool	setValue (const QVariant &new_value)

bool	shouldBeSaved () const

void	show ()

virtual Property *	subProp (const QString &sub_name)

Property *	takeChild (Property *child)

virtual Property *	takeChildAt (int index)

	~Property () override

Public Attributes
std::vector< std::shared_ptr< rviz::Shape > >	place_locations_display_

Protected Types
enum	LinkDisplayStatus { COLLISION_LINK, OUTSIDE_BOUNDS_LINK }

Protected Member Functions
void	backgroundJobUpdate (moveit::tools::BackgroundProcessing::JobEvent event, const std::string &jobname)

void	clearRobotModel () override

void	computeMetrics (bool start, const std::string &group, double payload)

void	computeMetricsInternal (std::map< std::string, double > &metrics, const robot_interaction::EndEffectorInteraction &eef, const moveit::core::RobotState &state, double payload)

void	displayMetrics (bool start)

void	displayTable (const std::map< std::string, double > &values, const Ogre::ColourValue &color, const Ogre::Vector3 &pos, const Ogre::Quaternion &orient)

void	drawQueryGoalState ()

void	drawQueryStartState ()

void	executeMainLoopJobs ()

void	fixedFrameChanged () override

bool	isIKSolutionCollisionFree (moveit::core::RobotState state, const moveit::core::JointModelGroup group, const double *ik_solution) const

void	onDisable () override

void	onEnable () override

void	onInitialize () override

void	onNewPlanningSceneState () override
	This is called upon successful retrieval of the (initial) planning scene state. More...

void	onRobotModelLoaded () override
	This is an event called by loadRobotModel() in the MainLoop; do not call directly. More...

void	onSceneMonitorReceivedUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type) override

void	populateMenuHandler (std::shared_ptr< interactive_markers::MenuHandler > &mh)

void	publishInteractiveMarkers (bool pose_update)

void	recomputeQueryGoalStateMetrics ()

void	recomputeQueryStartStateMetrics ()

void	renderWorkspaceBox ()

void	scheduleDrawQueryGoalState (robot_interaction::InteractionHandler *handler, bool error_state_changed)

void	scheduleDrawQueryStartState (robot_interaction::InteractionHandler *handler, bool error_state_changed)

void	selectPlanningGroupCallback (const std_msgs::StringConstPtr &msg)

void	setQueryStateHelper (bool use_start_state, const std::string &v)

void	updateBackgroundJobProgressBar ()

void	updateInternal (float wall_dt, float ros_dt) override

void	updateLinkColors ()

void	updateStateExceptModified (moveit::core::RobotState &dest, const moveit::core::RobotState &src)

Protected Member Functions inherited from moveit_rviz_plugin::PlanningSceneDisplay
void	calculateOffsetPosition ()
	Set the scene node's position, given the target frame and the planning frame. More...

virtual planning_scene_monitor::PlanningSceneMonitorPtr	createPlanningSceneMonitor ()

void	executeMainLoopJobs ()

void	fixedFrameChanged () override

void	loadRobotModel ()

void	onDisable () override

void	onEnable () override

void	onInitialize () override

void	renderPlanningScene ()

void	setGroupColor (rviz::Robot *robot, const std::string &group_name, const QColor &color)

void	setLinkColor (rviz::Robot *robot, const std::string &link_name, const QColor &color)

void	unsetAllColors (rviz::Robot *robot)

void	unsetGroupColor (rviz::Robot *robot, const std::string &group_name)

void	unsetLinkColor (rviz::Robot *robot, const std::string &link_name)

Protected Member Functions inherited from rviz::Display
virtual void	clearStatuses ()

bool	initialized () const

Protected Member Functions inherited from rviz::Property
void	loadValue (const Config &config)

Protected Attributes
rviz::BoolProperty *	compute_weight_limit_property_

std::map< std::pair< bool, std::string >, std::map< std::string, double > >	computed_metrics_

std::map< std::string, dynamics_solver::DynamicsSolverPtr >	dynamics_solver_

MotionPlanningFrame *	frame_

rviz::PanelDockWidget *	frame_dock_

rviz::Display *	int_marker_display_

kinematics_metrics::KinematicsMetricsPtr	kinematics_metrics_

std::shared_ptr< interactive_markers::MenuHandler >	menu_handler_goal_

std::shared_ptr< interactive_markers::MenuHandler >	menu_handler_start_

rviz::Property *	metrics_category_

rviz::FloatProperty *	metrics_set_payload_property_

rviz::FloatProperty *	metrics_text_height_property_

std::set< std::string >	modified_groups_

ros::NodeHandle	node_handle_

rviz::Property *	path_category_

rviz::Property *	plan_category_

rviz::EnumProperty *	planning_group_property_

ros::Subscriber	planning_group_sub_

std::map< std::string, bool >	position_only_ik_
	Some groups use position only ik, calls to the metrics have to be modified appropriately. More...

moveit::core::RobotStatePtr	previous_state_
	remember previous start state (updated before starting execution) More...

ros::NodeHandle	private_handle_

rviz::ColorProperty *	query_colliding_link_color_property_

rviz::FloatProperty *	query_goal_alpha_property_

rviz::ColorProperty *	query_goal_color_property_

robot_interaction::InteractionHandlerPtr	query_goal_state_

rviz::BoolProperty *	query_goal_state_property_

rviz::FloatProperty *	query_marker_scale_property_

rviz::ColorProperty *	query_outside_joint_limits_link_color_property_

RobotStateVisualizationPtr	query_robot_goal_
	Handles drawing the robot at the goal configuration. More...

RobotStateVisualizationPtr	query_robot_start_
	Handles drawing the robot at the start configuration. More...

rviz::FloatProperty *	query_start_alpha_property_

rviz::ColorProperty *	query_start_color_property_

robot_interaction::InteractionHandlerPtr	query_start_state_

rviz::BoolProperty *	query_start_state_property_

robot_interaction::RobotInteractionPtr	robot_interaction_

rviz::BoolProperty *	show_joint_torques_property_

rviz::BoolProperty *	show_manipulability_index_property_

rviz::BoolProperty *	show_manipulability_property_

rviz::BoolProperty *	show_workspace_property_

std::map< std::string, LinkDisplayStatus >	status_links_goal_

std::map< std::string, LinkDisplayStatus >	status_links_start_

bool	text_display_for_start_
	indicates whether the text display is for the start state or not More...

Ogre::SceneNode *	text_display_scene_node_
	displays texts More...

rviz::MovableText *	text_to_display_

TrajectoryVisualizationPtr	trajectory_visual_

boost::mutex	update_metrics_lock_

std::unique_ptr< rviz::Shape >	workspace_box_

Protected Attributes inherited from moveit_rviz_plugin::PlanningSceneDisplay
rviz::ColorProperty *	attached_body_color_property_

moveit::tools::BackgroundProcessing	background_process_

float	current_scene_time_

std::deque< boost::function< void()> >	main_loop_jobs_

boost::condition_variable	main_loop_jobs_empty_condition_

boost::mutex	main_loop_jobs_lock_

rviz::StringProperty *	move_group_ns_property_

rviz::EnumProperty *	octree_coloring_property_

rviz::EnumProperty *	octree_render_property_

planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_

bool	planning_scene_needs_render_

Ogre::SceneNode *	planning_scene_node_
	displays planning scene with everything in it More...

PlanningSceneRenderPtr	planning_scene_render_

RobotStateVisualizationPtr	planning_scene_robot_

rviz::RosTopicProperty *	planning_scene_topic_property_

rviz::FloatProperty *	robot_alpha_property_

rviz::Property *	robot_category_

rviz::StringProperty *	robot_description_property_

boost::mutex	robot_model_loading_lock_

bool	robot_state_needs_render_

rviz::FloatProperty *	scene_alpha_property_

rviz::Property *	scene_category_

rviz::ColorProperty *	scene_color_property_

rviz::FloatProperty *	scene_display_time_property_

rviz::BoolProperty *	scene_enabled_property_

rviz::StringProperty *	scene_name_property_

rviz::BoolProperty *	scene_robot_collision_enabled_property_

rviz::BoolProperty *	scene_robot_visual_enabled_property_

Protected Attributes inherited from rviz::Display
DisplayContext *	context_

QString	fixed_frame_

Ogre::SceneManager *	scene_manager_

Ogre::SceneNode *	scene_node_

ros::NodeHandle	threaded_nh_

ros::NodeHandle	update_nh_

Protected Attributes inherited from rviz::Property
bool	child_indexes_valid_

QIcon	icon_

PropertyTreeModel *	model_

QVariant	value_

Private Slots
void	changedAttachedBodyColor () override

void	changedMetricsSetPayload ()

void	changedMetricsTextHeight ()

void	changedPlanningGroup ()

void	changedQueryCollidingLinkColor ()

void	changedQueryGoalAlpha ()

void	changedQueryGoalColor ()

void	changedQueryGoalState ()

void	changedQueryJointViolationColor ()

void	changedQueryMarkerScale ()

void	changedQueryStartAlpha ()

void	changedQueryStartColor ()

void	changedQueryStartState ()

void	changedShowJointTorques ()

void	changedShowManipulability ()

void	changedShowManipulabilityIndex ()

void	changedShowWeightLimit ()

void	changedWorkspace ()

void	motionPanelVisibilityChange (bool enable)

void	resetInteractiveMarkers ()

Additional Inherited Members
Public Slots inherited from rviz::Display
virtual void	onEnableChanged ()

void	queueRender ()

void	setEnabled (bool enabled)

void	setIcon (const QIcon &icon) override

Public Slots inherited from rviz::BoolProperty
bool	setBool (bool value)

Protected Slots inherited from moveit_rviz_plugin::PlanningSceneDisplay
virtual void	changedAttachedBodyColor ()

Detailed Description

Definition at line 82 of file motion_planning_display.h.

Member Enumeration Documentation

◆ LinkDisplayStatus

enum moveit_rviz_plugin::MotionPlanningDisplay::LinkDisplayStatus

protected

Enumerator
COLLISION_LINK
OUTSIDE_BOUNDS_LINK

Definition at line 193 of file motion_planning_display.h.

Constructor & Destructor Documentation

◆ MotionPlanningDisplay()

moveit_rviz_plugin::MotionPlanningDisplay::MotionPlanningDisplay ( )

Definition at line 114 of file motion_planning_display.cpp.

◆ ~MotionPlanningDisplay()

moveit_rviz_plugin::MotionPlanningDisplay::~MotionPlanningDisplay ( )

override

Definition at line 217 of file motion_planning_display.cpp.

Member Function Documentation

◆ addStatusText() [1/2]

void moveit_rviz_plugin::MotionPlanningDisplay::addStatusText ( const std::string & text )

Definition at line 718 of file motion_planning_display.cpp.

◆ addStatusText() [2/2]

void moveit_rviz_plugin::MotionPlanningDisplay::addStatusText ( const std::vector< std::string > & text )

Definition at line 724 of file motion_planning_display.cpp.

◆ backgroundJobUpdate()

void moveit_rviz_plugin::MotionPlanningDisplay::backgroundJobUpdate	(	moveit::tools::BackgroundProcessing::JobEvent	event,
		const std::string &	jobname
	)

protected

Definition at line 358 of file motion_planning_display.cpp.

◆ changedAttachedBodyColor

void moveit_rviz_plugin::MotionPlanningDisplay::changedAttachedBodyColor ( )

overrideprivateslot

Definition at line 925 of file motion_planning_display.cpp.

◆ changedMetricsSetPayload

void moveit_rviz_plugin::MotionPlanningDisplay::changedMetricsSetPayload ( )

privateslot

Definition at line 447 of file motion_planning_display.cpp.

◆ changedMetricsTextHeight

void moveit_rviz_plugin::MotionPlanningDisplay::changedMetricsTextHeight ( )

privateslot

Definition at line 461 of file motion_planning_display.cpp.

◆ changedPlanningGroup

void moveit_rviz_plugin::MotionPlanningDisplay::changedPlanningGroup ( )

privateslot

Definition at line 1054 of file motion_planning_display.cpp.

◆ changedQueryCollidingLinkColor

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryCollidingLinkColor ( )

privateslot

Definition at line 913 of file motion_planning_display.cpp.

◆ changedQueryGoalAlpha

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryGoalAlpha ( )

privateslot

Definition at line 907 of file motion_planning_display.cpp.

◆ changedQueryGoalColor

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryGoalColor ( )

privateslot

Definition at line 895 of file motion_planning_display.cpp.

◆ changedQueryGoalState

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryGoalState ( )

privateslot

Definition at line 754 of file motion_planning_display.cpp.

◆ changedQueryJointViolationColor

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryJointViolationColor ( )

privateslot

Definition at line 919 of file motion_planning_display.cpp.

◆ changedQueryMarkerScale

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryMarkerScale ( )

privateslot

Definition at line 883 of file motion_planning_display.cpp.

◆ changedQueryStartAlpha

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryStartAlpha ( )

privateslot

Definition at line 877 of file motion_planning_display.cpp.

◆ changedQueryStartColor

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryStartColor ( )

privateslot

Definition at line 865 of file motion_planning_display.cpp.

◆ changedQueryStartState

void moveit_rviz_plugin::MotionPlanningDisplay::changedQueryStartState ( )

privateslot

Definition at line 744 of file motion_planning_display.cpp.

◆ changedShowJointTorques

void moveit_rviz_plugin::MotionPlanningDisplay::changedShowJointTorques ( )

privateslot

Definition at line 433 of file motion_planning_display.cpp.

◆ changedShowManipulability

void moveit_rviz_plugin::MotionPlanningDisplay::changedShowManipulability ( )

privateslot

Definition at line 419 of file motion_planning_display.cpp.

◆ changedShowManipulabilityIndex

void moveit_rviz_plugin::MotionPlanningDisplay::changedShowManipulabilityIndex ( )

privateslot

Definition at line 405 of file motion_planning_display.cpp.

◆ changedShowWeightLimit

void moveit_rviz_plugin::MotionPlanningDisplay::changedShowWeightLimit ( )

privateslot

Definition at line 391 of file motion_planning_display.cpp.

◆ changedWorkspace

void moveit_rviz_plugin::MotionPlanningDisplay::changedWorkspace ( )

privateslot

Definition at line 1078 of file motion_planning_display.cpp.

◆ changePlanningGroup()

void moveit_rviz_plugin::MotionPlanningDisplay::changePlanningGroup ( const std::string & group )

Definition at line 1041 of file motion_planning_display.cpp.

◆ clearPlaceLocationsDisplay()

void moveit_rviz_plugin::MotionPlanningDisplay::clearPlaceLocationsDisplay ( )

Definition at line 1473 of file motion_planning_display.cpp.

◆ clearRobotModel()

void moveit_rviz_plugin::MotionPlanningDisplay::clearRobotModel ( )

overrideprotectedvirtual

This function is used by loadRobotModel() and should only be called in the MainLoop You probably should not call this function directly

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1155 of file motion_planning_display.cpp.

◆ computeMetrics()

void moveit_rviz_plugin::MotionPlanningDisplay::computeMetrics	(	bool	start,
		const std::string &	group,
		double	payload
	)

protected

Definition at line 512 of file motion_planning_display.cpp.

◆ computeMetricsInternal()

void moveit_rviz_plugin::MotionPlanningDisplay::computeMetricsInternal	(	std::map< std::string, double > &	metrics,
		const robot_interaction::EndEffectorInteraction &	eef,
		const moveit::core::RobotState &	state,
		double	payload
	)

protected

Definition at line 527 of file motion_planning_display.cpp.

◆ displayMetrics()

void moveit_rviz_plugin::MotionPlanningDisplay::displayMetrics ( bool start )

protected

Definition at line 587 of file motion_planning_display.cpp.

◆ displayTable()

void moveit_rviz_plugin::MotionPlanningDisplay::displayTable	(	const std::map< std::string, double > &	values,
		const Ogre::ColourValue &	color,
		const Ogre::Vector3 &	pos,
		const Ogre::Quaternion &	orient
	)

protected

Definition at line 466 of file motion_planning_display.cpp.

◆ drawQueryGoalState()

void moveit_rviz_plugin::MotionPlanningDisplay::drawQueryGoalState ( )

protected

Definition at line 764 of file motion_planning_display.cpp.

◆ drawQueryStartState()

void moveit_rviz_plugin::MotionPlanningDisplay::drawQueryStartState ( )

protected

Definition at line 644 of file motion_planning_display.cpp.

◆ dropVisualizedTrajectory()

void moveit_rviz_plugin::MotionPlanningDisplay::dropVisualizedTrajectory ( )

inline

Definition at line 129 of file motion_planning_display.h.

◆ executeMainLoopJobs()

void moveit_rviz_plugin::MotionPlanningDisplay::executeMainLoopJobs ( )

protected

◆ fixedFrameChanged()

void moveit_rviz_plugin::MotionPlanningDisplay::fixedFrameChanged ( )

overrideprotectedvirtual

Reimplemented from rviz::Display.

Definition at line 1464 of file motion_planning_display.cpp.

◆ getCurrentPlanningGroup()

std::string moveit_rviz_plugin::MotionPlanningDisplay::getCurrentPlanningGroup ( ) const

Definition at line 1083 of file motion_planning_display.cpp.

◆ getPreviousState()

const moveit::core::RobotState& moveit_rviz_plugin::MotionPlanningDisplay::getPreviousState ( ) const

inline

Definition at line 109 of file motion_planning_display.h.

◆ getQueryGoalState()

moveit::core::RobotStateConstPtr moveit_rviz_plugin::MotionPlanningDisplay::getQueryGoalState ( ) const

inline

Definition at line 104 of file motion_planning_display.h.

◆ getQueryGoalStateHandler()

const robot_interaction::InteractionHandlerPtr& moveit_rviz_plugin::MotionPlanningDisplay::getQueryGoalStateHandler ( ) const

inline

Definition at line 124 of file motion_planning_display.h.

◆ getQueryStartState()

moveit::core::RobotStateConstPtr moveit_rviz_plugin::MotionPlanningDisplay::getQueryStartState ( ) const

inline

Definition at line 99 of file motion_planning_display.h.

◆ getQueryStartStateHandler()

const robot_interaction::InteractionHandlerPtr& moveit_rviz_plugin::MotionPlanningDisplay::getQueryStartStateHandler ( ) const

inline

Definition at line 119 of file motion_planning_display.h.

◆ getRobotInteraction()

const robot_interaction::RobotInteractionPtr& moveit_rviz_plugin::MotionPlanningDisplay::getRobotInteraction ( ) const

inline

Definition at line 114 of file motion_planning_display.h.

◆ isIKSolutionCollisionFree()

bool moveit_rviz_plugin::MotionPlanningDisplay::isIKSolutionCollisionFree	(	moveit::core::RobotState *	state,
		const moveit::core::JointModelGroup *	group,
		const double *	ik_solution
	)		const

protected

Definition at line 998 of file motion_planning_display.cpp.

◆ load()

void moveit_rviz_plugin::MotionPlanningDisplay::load ( const rviz::Config & config )

overridevirtual

Reimplemented from rviz::Display.

Definition at line 1367 of file motion_planning_display.cpp.

◆ motionPanelVisibilityChange

void moveit_rviz_plugin::MotionPlanningDisplay::motionPanelVisibilityChange ( bool enable )

privateslot

Definition at line 300 of file motion_planning_display.cpp.

◆ onDisable()

void moveit_rviz_plugin::MotionPlanningDisplay::onDisable ( )

overrideprotectedvirtual

Reimplemented from rviz::Display.

Definition at line 1326 of file motion_planning_display.cpp.

◆ onEnable()

void moveit_rviz_plugin::MotionPlanningDisplay::onEnable ( )

overrideprotectedvirtual

Reimplemented from rviz::Display.

Definition at line 1305 of file motion_planning_display.cpp.

◆ onInitialize()

void moveit_rviz_plugin::MotionPlanningDisplay::onInitialize ( )

overrideprotectedvirtual

Reimplemented from rviz::Display.

Definition at line 230 of file motion_planning_display.cpp.

◆ onNewPlanningSceneState()

void moveit_rviz_plugin::MotionPlanningDisplay::onNewPlanningSceneState ( )

overrideprotectedvirtual

This is called upon successful retrieval of the (initial) planning scene state.

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1246 of file motion_planning_display.cpp.

◆ onRobotModelLoaded()

void moveit_rviz_plugin::MotionPlanningDisplay::onRobotModelLoaded ( )

overrideprotectedvirtual

This is an event called by loadRobotModel() in the MainLoop; do not call directly.

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1172 of file motion_planning_display.cpp.

◆ onSceneMonitorReceivedUpdate()

void moveit_rviz_plugin::MotionPlanningDisplay::onSceneMonitorReceivedUpdate ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type )

overrideprotectedvirtual

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1293 of file motion_planning_display.cpp.

◆ populateMenuHandler()

void moveit_rviz_plugin::MotionPlanningDisplay::populateMenuHandler ( std::shared_ptr< interactive_markers::MenuHandler > & mh )

protected

Definition at line 1123 of file motion_planning_display.cpp.

◆ publishInteractiveMarkers()

void moveit_rviz_plugin::MotionPlanningDisplay::publishInteractiveMarkers ( bool pose_update )

protected

Definition at line 836 of file motion_planning_display.cpp.

◆ queryGoalStateChanged

void moveit_rviz_plugin::MotionPlanningDisplay::queryGoalStateChanged ( )

signal

◆ queryStartStateChanged

void moveit_rviz_plugin::MotionPlanningDisplay::queryStartStateChanged ( )

signal

◆ recomputeQueryGoalStateMetrics()

void moveit_rviz_plugin::MotionPlanningDisplay::recomputeQueryGoalStateMetrics ( )

protected

Definition at line 737 of file motion_planning_display.cpp.

◆ recomputeQueryStartStateMetrics()

void moveit_rviz_plugin::MotionPlanningDisplay::recomputeQueryStartStateMetrics ( )

protected

Definition at line 730 of file motion_planning_display.cpp.

◆ rememberPreviousStartState()

void moveit_rviz_plugin::MotionPlanningDisplay::rememberPreviousStartState ( )

Definition at line 969 of file motion_planning_display.cpp.

◆ renderWorkspaceBox()

void moveit_rviz_plugin::MotionPlanningDisplay::renderWorkspaceBox ( )

protected

Definition at line 489 of file motion_planning_display.cpp.

◆ reset()

void moveit_rviz_plugin::MotionPlanningDisplay::reset ( )

overridevirtual

Reimplemented from rviz::Display.

Definition at line 325 of file motion_planning_display.cpp.

◆ resetInteractiveMarkers

void moveit_rviz_plugin::MotionPlanningDisplay::resetInteractiveMarkers ( )

privateslot

Definition at line 829 of file motion_planning_display.cpp.

◆ resetStatusTextColor()

void moveit_rviz_plugin::MotionPlanningDisplay::resetStatusTextColor ( )

Definition at line 707 of file motion_planning_display.cpp.

◆ save()

void moveit_rviz_plugin::MotionPlanningDisplay::save ( rviz::Config config ) const

overridevirtual

Reimplemented from rviz::Display.

Definition at line 1433 of file motion_planning_display.cpp.

◆ scheduleDrawQueryGoalState()

void moveit_rviz_plugin::MotionPlanningDisplay::scheduleDrawQueryGoalState	(	robot_interaction::InteractionHandler *	handler,
		bool	error_state_changed
	)

protected

Definition at line 943 of file motion_planning_display.cpp.

◆ scheduleDrawQueryStartState()

void moveit_rviz_plugin::MotionPlanningDisplay::scheduleDrawQueryStartState	(	robot_interaction::InteractionHandler *	handler,
		bool	error_state_changed
	)

protected

Definition at line 933 of file motion_planning_display.cpp.

◆ selectPlanningGroupCallback()

void moveit_rviz_plugin::MotionPlanningDisplay::selectPlanningGroupCallback ( const std_msgs::StringConstPtr & msg )

protected

Definition at line 319 of file motion_planning_display.cpp.

◆ setName()

void moveit_rviz_plugin::MotionPlanningDisplay::setName ( const QString & name )

overridevirtual

Reimplemented from rviz::Display.

Definition at line 347 of file motion_planning_display.cpp.

◆ setQueryGoalState()

void moveit_rviz_plugin::MotionPlanningDisplay::setQueryGoalState ( const moveit::core::RobotState & goal )

Definition at line 980 of file motion_planning_display.cpp.

◆ setQueryStartState()

void moveit_rviz_plugin::MotionPlanningDisplay::setQueryStartState ( const moveit::core::RobotState & start )

Definition at line 974 of file motion_planning_display.cpp.

◆ setQueryStateHelper()

void moveit_rviz_plugin::MotionPlanningDisplay::setQueryStateHelper	(	bool	use_start_state,
		const std::string &	v
	)

protected

Definition at line 1088 of file motion_planning_display.cpp.

◆ setStatusTextColor()

void moveit_rviz_plugin::MotionPlanningDisplay::setStatusTextColor ( const QColor & color )

Definition at line 712 of file motion_planning_display.cpp.

◆ toggleSelectPlanningGroupSubscription()

void moveit_rviz_plugin::MotionPlanningDisplay::toggleSelectPlanningGroupSubscription ( bool enable )

Definition at line 306 of file motion_planning_display.cpp.

◆ update()

void moveit_rviz_plugin::MotionPlanningDisplay::update	(	float	wall_dt,
		float	ros_dt
	)

overridevirtual

Reimplemented from rviz::Display.

Definition at line 1347 of file motion_planning_display.cpp.

◆ updateBackgroundJobProgressBar()

void moveit_rviz_plugin::MotionPlanningDisplay::updateBackgroundJobProgressBar ( )

protected

Definition at line 364 of file motion_planning_display.cpp.

◆ updateInternal()

void moveit_rviz_plugin::MotionPlanningDisplay::updateInternal	(	float	wall_dt,
		float	ros_dt
	)

overrideprotectedvirtual

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1357 of file motion_planning_display.cpp.

◆ updateLinkColors()

void moveit_rviz_plugin::MotionPlanningDisplay::updateLinkColors ( )

protected

Definition at line 1013 of file motion_planning_display.cpp.

◆ updateQueryGoalState()

void moveit_rviz_plugin::MotionPlanningDisplay::updateQueryGoalState ( )

Definition at line 961 of file motion_planning_display.cpp.

◆ updateQueryStartState()

void moveit_rviz_plugin::MotionPlanningDisplay::updateQueryStartState ( )

Definition at line 953 of file motion_planning_display.cpp.

◆ updateQueryStates()

void moveit_rviz_plugin::MotionPlanningDisplay::updateQueryStates ( const moveit::core::RobotState & current_state )

Definition at line 1270 of file motion_planning_display.cpp.

◆ updateStateExceptModified()

void moveit_rviz_plugin::MotionPlanningDisplay::updateStateExceptModified	(	moveit::core::RobotState &	dest,
		const moveit::core::RobotState &	src
	)

protected

Definition at line 1251 of file motion_planning_display.cpp.

◆ useApproximateIK()

void moveit_rviz_plugin::MotionPlanningDisplay::useApproximateIK ( bool flag )

Definition at line 986 of file motion_planning_display.cpp.

◆ visualizePlaceLocations()

void moveit_rviz_plugin::MotionPlanningDisplay::visualizePlaceLocations ( const std::vector< geometry_msgs::PoseStamped > & place_poses )

Definition at line 1480 of file motion_planning_display.cpp.

Member Data Documentation

◆ compute_weight_limit_property_

rviz::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::compute_weight_limit_property_

protected

Definition at line 306 of file motion_planning_display.h.

◆ computed_metrics_

std::map<std::pair<bool, std::string>, std::map<std::string, double> > moveit_rviz_plugin::MotionPlanningDisplay::computed_metrics_

protected

The metrics are pairs of name-value for each of the active end effectors, for both start & goal states. computed_metrics_[std::make_pair(IS_START_STATE, GROUP_NAME)] = a map of key-value pairs

Definition at line 278 of file motion_planning_display.h.

◆ dynamics_solver_

std::map<std::string, dynamics_solver::DynamicsSolverPtr> moveit_rviz_plugin::MotionPlanningDisplay::dynamics_solver_

protected

Definition at line 284 of file motion_planning_display.h.

◆ frame_

MotionPlanningFrame* moveit_rviz_plugin::MotionPlanningDisplay::frame_

protected

Definition at line 258 of file motion_planning_display.h.

◆ frame_dock_

rviz::PanelDockWidget* moveit_rviz_plugin::MotionPlanningDisplay::frame_dock_

protected

Definition at line 259 of file motion_planning_display.h.

◆ int_marker_display_

rviz::Display* moveit_rviz_plugin::MotionPlanningDisplay::int_marker_display_

protected

Definition at line 314 of file motion_planning_display.h.

◆ kinematics_metrics_

kinematics_metrics::KinematicsMetricsPtr moveit_rviz_plugin::MotionPlanningDisplay::kinematics_metrics_

protected

Definition at line 283 of file motion_planning_display.h.

◆ menu_handler_goal_

std::shared_ptr<interactive_markers::MenuHandler> moveit_rviz_plugin::MotionPlanningDisplay::menu_handler_goal_

protected

Definition at line 266 of file motion_planning_display.h.

◆ menu_handler_start_

std::shared_ptr<interactive_markers::MenuHandler> moveit_rviz_plugin::MotionPlanningDisplay::menu_handler_start_

protected

Definition at line 265 of file motion_planning_display.h.

◆ metrics_category_

rviz::Property* moveit_rviz_plugin::MotionPlanningDisplay::metrics_category_

protected

Definition at line 293 of file motion_planning_display.h.

◆ metrics_set_payload_property_

rviz::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::metrics_set_payload_property_

protected

Definition at line 310 of file motion_planning_display.h.

◆ metrics_text_height_property_

rviz::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::metrics_text_height_property_

protected

Definition at line 311 of file motion_planning_display.h.

◆ modified_groups_

std::set<std::string> moveit_rviz_plugin::MotionPlanningDisplay::modified_groups_

protected

Hold the names of the groups for which the query states have been updated (and should not be altered when new info is received from the planning scene)

Definition at line 274 of file motion_planning_display.h.

◆ node_handle_

ros::NodeHandle moveit_rviz_plugin::MotionPlanningDisplay::node_handle_

protected

Definition at line 252 of file motion_planning_display.h.

◆ path_category_

rviz::Property* moveit_rviz_plugin::MotionPlanningDisplay::path_category_

protected

Definition at line 291 of file motion_planning_display.h.

◆ place_locations_display_

std::vector<std::shared_ptr<rviz::Shape> > moveit_rviz_plugin::MotionPlanningDisplay::place_locations_display_

Definition at line 147 of file motion_planning_display.h.

◆ plan_category_

rviz::Property* moveit_rviz_plugin::MotionPlanningDisplay::plan_category_

protected

Definition at line 292 of file motion_planning_display.h.

◆ planning_group_property_

rviz::EnumProperty* moveit_rviz_plugin::MotionPlanningDisplay::planning_group_property_

protected

Definition at line 295 of file motion_planning_display.h.

◆ planning_group_sub_

ros::Subscriber moveit_rviz_plugin::MotionPlanningDisplay::planning_group_sub_

protected

Definition at line 251 of file motion_planning_display.h.

◆ position_only_ik_

std::map<std::string, bool> moveit_rviz_plugin::MotionPlanningDisplay::position_only_ik_

protected

Some groups use position only ik, calls to the metrics have to be modified appropriately.

Definition at line 280 of file motion_planning_display.h.

◆ previous_state_

moveit::core::RobotStatePtr moveit_rviz_plugin::MotionPlanningDisplay::previous_state_

protected

remember previous start state (updated before starting execution)

Definition at line 270 of file motion_planning_display.h.

◆ private_handle_

ros::NodeHandle moveit_rviz_plugin::MotionPlanningDisplay::private_handle_

protected

Definition at line 252 of file motion_planning_display.h.

◆ query_colliding_link_color_property_

rviz::ColorProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_colliding_link_color_property_

protected

Definition at line 303 of file motion_planning_display.h.

◆ query_goal_alpha_property_

rviz::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_goal_alpha_property_

protected

Definition at line 302 of file motion_planning_display.h.

◆ query_goal_color_property_

rviz::ColorProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_goal_color_property_

protected

Definition at line 300 of file motion_planning_display.h.

◆ query_goal_state_

robot_interaction::InteractionHandlerPtr moveit_rviz_plugin::MotionPlanningDisplay::query_goal_state_

protected

Definition at line 264 of file motion_planning_display.h.

◆ query_goal_state_property_

rviz::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_goal_state_property_

protected

Definition at line 297 of file motion_planning_display.h.

◆ query_marker_scale_property_

rviz::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_marker_scale_property_

protected

Definition at line 298 of file motion_planning_display.h.

◆ query_outside_joint_limits_link_color_property_

rviz::ColorProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_outside_joint_limits_link_color_property_

protected

Definition at line 304 of file motion_planning_display.h.

◆ query_robot_goal_

RobotStateVisualizationPtr moveit_rviz_plugin::MotionPlanningDisplay::query_robot_goal_

protected

Handles drawing the robot at the goal configuration.

Definition at line 245 of file motion_planning_display.h.

◆ query_robot_start_

RobotStateVisualizationPtr moveit_rviz_plugin::MotionPlanningDisplay::query_robot_start_

protected

Handles drawing the robot at the start configuration.

Definition at line 244 of file motion_planning_display.h.

◆ query_start_alpha_property_

rviz::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_start_alpha_property_

protected

Definition at line 301 of file motion_planning_display.h.

◆ query_start_color_property_

rviz::ColorProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_start_color_property_

protected

Definition at line 299 of file motion_planning_display.h.

◆ query_start_state_

robot_interaction::InteractionHandlerPtr moveit_rviz_plugin::MotionPlanningDisplay::query_start_state_

protected

Definition at line 263 of file motion_planning_display.h.

◆ query_start_state_property_

rviz::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_start_state_property_

protected

Definition at line 296 of file motion_planning_display.h.

◆ robot_interaction_

robot_interaction::RobotInteractionPtr moveit_rviz_plugin::MotionPlanningDisplay::robot_interaction_

protected

Definition at line 262 of file motion_planning_display.h.

◆ show_joint_torques_property_

rviz::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::show_joint_torques_property_

protected

Definition at line 309 of file motion_planning_display.h.

◆ show_manipulability_index_property_

rviz::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::show_manipulability_index_property_

protected

Definition at line 307 of file motion_planning_display.h.

◆ show_manipulability_property_

rviz::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::show_manipulability_property_

protected

Definition at line 308 of file motion_planning_display.h.

◆ show_workspace_property_

rviz::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::show_workspace_property_

protected

Definition at line 312 of file motion_planning_display.h.

◆ status_links_goal_

std::map<std::string, LinkDisplayStatus> moveit_rviz_plugin::MotionPlanningDisplay::status_links_goal_

protected

Definition at line 268 of file motion_planning_display.h.

◆ status_links_start_

std::map<std::string, LinkDisplayStatus> moveit_rviz_plugin::MotionPlanningDisplay::status_links_start_

protected

Definition at line 267 of file motion_planning_display.h.

◆ text_display_for_start_

bool moveit_rviz_plugin::MotionPlanningDisplay::text_display_for_start_

protected

indicates whether the text display is for the start state or not

Definition at line 248 of file motion_planning_display.h.

◆ text_display_scene_node_

Ogre::SceneNode* moveit_rviz_plugin::MotionPlanningDisplay::text_display_scene_node_

protected

displays texts

Definition at line 247 of file motion_planning_display.h.

◆ text_to_display_

rviz::MovableText* moveit_rviz_plugin::MotionPlanningDisplay::text_to_display_

protected

Definition at line 249 of file motion_planning_display.h.

◆ trajectory_visual_

TrajectoryVisualizationPtr moveit_rviz_plugin::MotionPlanningDisplay::trajectory_visual_

protected

Definition at line 288 of file motion_planning_display.h.

◆ update_metrics_lock_

boost::mutex moveit_rviz_plugin::MotionPlanningDisplay::update_metrics_lock_

protected

Definition at line 285 of file motion_planning_display.h.

◆ workspace_box_

std::unique_ptr<rviz::Shape> moveit_rviz_plugin::MotionPlanningDisplay::workspace_box_

protected

Definition at line 255 of file motion_planning_display.h.

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

Signals

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Private Slots

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ LinkDisplayStatus

Constructor & Destructor Documentation

◆ MotionPlanningDisplay()

◆ ~MotionPlanningDisplay()

Member Function Documentation

◆ addStatusText() [1/2]

◆ addStatusText() [2/2]

◆ backgroundJobUpdate()

◆ changedAttachedBodyColor

◆ changedMetricsSetPayload

◆ changedMetricsTextHeight

◆ changedPlanningGroup

◆ changedQueryCollidingLinkColor

◆ changedQueryGoalAlpha

◆ changedQueryGoalColor

◆ changedQueryGoalState

◆ changedQueryJointViolationColor

◆ changedQueryMarkerScale

◆ changedQueryStartAlpha

◆ changedQueryStartColor

◆ changedQueryStartState

◆ changedShowJointTorques

◆ changedShowManipulability

◆ changedShowManipulabilityIndex

◆ changedShowWeightLimit

◆ changedWorkspace

◆ changePlanningGroup()

◆ clearPlaceLocationsDisplay()

◆ clearRobotModel()

◆ computeMetrics()

◆ computeMetricsInternal()

◆ displayMetrics()

◆ displayTable()

◆ drawQueryGoalState()

◆ drawQueryStartState()

◆ dropVisualizedTrajectory()

◆ executeMainLoopJobs()

◆ fixedFrameChanged()

◆ getCurrentPlanningGroup()

◆ getPreviousState()

◆ getQueryGoalState()

◆ getQueryGoalStateHandler()

◆ getQueryStartState()

◆ getQueryStartStateHandler()

◆ getRobotInteraction()

◆ isIKSolutionCollisionFree()

◆ load()

◆ motionPanelVisibilityChange

◆ onDisable()

◆ onEnable()

◆ onInitialize()

◆ onNewPlanningSceneState()

◆ onRobotModelLoaded()

◆ onSceneMonitorReceivedUpdate()

◆ populateMenuHandler()

◆ publishInteractiveMarkers()

◆ queryGoalStateChanged

◆ queryStartStateChanged

◆ recomputeQueryGoalStateMetrics()

◆ recomputeQueryStartStateMetrics()

◆ rememberPreviousStartState()

◆ renderWorkspaceBox()

◆ reset()

◆ resetInteractiveMarkers

◆ resetStatusTextColor()

◆ save()

◆ scheduleDrawQueryGoalState()

◆ scheduleDrawQueryStartState()

◆ selectPlanningGroupCallback()

◆ setName()