Signals | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | Static Protected Attributes | Private Slots | Private Member Functions | Private Attributes | Friends | List of all members
moveit_rviz_plugin::MotionPlanningFrame Class Reference

#include <motion_planning_frame.h>

Inheritance diagram for moveit_rviz_plugin::MotionPlanningFrame:
Inheritance graph
[legend]

Signals

void configChanged ()
 
void planningFinished ()
 

Public Member Functions

void changePlanningGroup ()
 
void clearRobotModel ()
 
void disable ()
 
void enable ()
 
 MotionPlanningFrame (const MotionPlanningFrame &)=delete
 
 MotionPlanningFrame (MotionPlanningDisplay *pdisplay, rviz::DisplayContext *context, QWidget *parent=nullptr)
 
void sceneUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
 
 ~MotionPlanningFrame () override
 

Protected Types

typedef std::map< std::string, moveit_msgs::RobotState > RobotStateMap
 
typedef std::pair< std::string, moveit_msgs::RobotState > RobotStatePair
 

Protected Member Functions

void constructPlanningRequest (moveit_msgs::MotionPlanRequest &mreq)
 
void initFromMoveGroupNS ()
 
void updateExternalCommunication ()
 
void updateSceneMarkers (float wall_dt, float ros_dt)
 

Protected Attributes

moveit_warehouse::ConstraintsStoragePtr constraints_storage_
 
rviz::DisplayContext * context_
 
moveit::planning_interface::MoveGroupInterface::PlanPtr current_plan_
 
std::string default_planning_pipeline_
 
MotionPlanningFrameJointsWidget * joints_tab_
 
moveit::planning_interface::MoveGroupInterfacePtr move_group_
 
std::vector< moveit_msgs::PlannerInterfaceDescription > planner_descriptions_
 
MotionPlanningDisplay * planning_display_
 
moveit_warehouse::PlanningSceneStoragePtr planning_scene_storage_
 
moveit_warehouse::RobotStateStoragePtr robot_state_storage_
 
RobotStateMap robot_states_
 
std::shared_ptr< rviz::InteractiveMarker > scene_marker_
 
moveit::semantic_world::SemanticWorldPtr semantic_world_
 
Ui::MotionPlanningUI * ui_
 

Static Protected Attributes

static const int ITEM_TYPE_QUERY = 2
 
static const int ITEM_TYPE_SCENE = 1
 

Private Slots

void addSceneObject ()
 
void allowExternalProgramCommunication (bool enable)
 
void allowLookingToggled (bool checked)
 
void allowReplanningToggled (bool checked)
 
void approximateIKChanged (int state)
 
void clearScene ()
 
void clearStatesButtonClicked ()
 
void collisionObjectChanged (QListWidgetItem *item)
 
bool computeCartesianPlan ()
 
bool computeJointSpacePlan ()
 
void copySelectedCollisionObjects ()
 
void currentCollisionObjectChanged ()
 
void databaseConnectButtonClicked ()
 
void deleteQueryButtonClicked ()
 
void deleteSceneButtonClicked ()
 
void detectedObjectChanged (QListWidgetItem *item)
 
void detectObjectsButtonClicked ()
 
void executeButtonClicked ()
 
void exportGeometryAsTextButtonClicked ()
 
void goalStateTextChanged (const QString &goal_state)
 
void importGeometryFromTextButtonClicked ()
 
void imProcessFeedback (visualization_msgs::InteractiveMarkerFeedback &feedback)
 
bool isLocalSceneDirty () const
 
void loadQueryButtonClicked ()
 
void loadSceneButtonClicked ()
 
void loadStateButtonClicked ()
 
void objectPoseValueChanged (double value)
 
void onClearOctomapClicked ()
 
void onNewPlanningSceneState ()
 
void pathConstraintsIndexChanged (int index)
 
void pickObjectButtonClicked ()
 
void placeObjectButtonClicked ()
 
void planAndExecuteButtonClicked ()
 
void planButtonClicked ()
 
void planningAlgorithmIndexChanged (int index)
 
void planningGroupTextChanged (const QString &planning_group)
 
void planningPipelineIndexChanged (int index)
 
void planningSceneItemClicked ()
 
void publishScene ()
 
void publishSceneIfNeeded ()
 
void removeSceneObjects ()
 
void removeStateButtonClicked ()
 
void resetDbButtonClicked ()
 
void saveGoalStateButtonClicked ()
 
void saveQueryButtonClicked ()
 
void saveSceneButtonClicked ()
 
void saveStartStateButtonClicked ()
 
void sceneScaleChanged (int value)
 
void sceneScaleEndChange ()
 
void sceneScaleStartChange ()
 
void selectedDetectedObjectChanged ()
 
void selectedSupportSurfaceChanged ()
 
void setAsGoalStateButtonClicked ()
 
void setAsStartStateButtonClicked ()
 
void setLocalSceneEdited (bool dirty=true)
 
void shapesComboBoxChanged (const QString &text)
 
void startStateTextChanged (const QString &start_state)
 
void stopButtonClicked ()
 
void tabChanged (int index)
 
void warehouseItemNameChanged (QTreeWidgetItem *item, int column)
 

Private Member Functions

QListWidgetItem * addCollisionObjectToList (const std::string &name, int row, bool attached)
 
void attachDetachCollisionObject (QListWidgetItem *item)
 
void changePlanningGroupHelper ()
 
void checkPlanningSceneTreeEnabledButtons ()
 
void computeDatabaseConnectButtonClicked ()
 
void computeDatabaseConnectButtonClickedHelper (int mode)
 
void computeDeleteQueryButtonClicked ()
 
void computeDeleteQueryButtonClickedHelper (QTreeWidgetItem *s)
 
void computeDeleteSceneButtonClicked ()
 
void computeExecuteButtonClicked ()
 
void computeExportGeometryAsText (const std::string &path)
 
void computeImportGeometryFromText (const std::string &path)
 
void computeLoadQueryButtonClicked ()
 
void computeLoadSceneButtonClicked ()
 
void computePlanAndExecuteButtonClicked ()
 
void computePlanAndExecuteButtonClickedDisplayHelper ()
 
void computePlanButtonClicked ()
 
void computeResetDbButtonClicked (const std::string &db)
 
void computeSaveQueryButtonClicked (const std::string &scene, const std::string &query_name)
 
void computeSaveSceneButtonClicked ()
 
void computeStopButtonClicked ()
 
void configureForPlanning ()
 
void configureWorkspace ()
 
visualization_msgs::InteractiveMarker createObjectMarkerMsg (const collision_detection::CollisionEnv::ObjectConstPtr &obj)
 
void createSceneInteractiveMarker ()
 
void fillPlanningGroupOptions ()
 
void fillStateSelectionOptions ()
 
void goalStateTextChangedExec (const std::string &goal_state)
 
void listenDetectedObjects (const object_recognition_msgs::RecognizedObjectArrayPtr &msg)
 
shapes::ShapePtr loadMeshResource (const std::string &url)
 
void loadStoredStates (const std::string &pattern)
 
void onFinishedExecution (bool success)
 
void pickObject ()
 
void placeObject ()
 
void populateCollisionObjectsList (planning_scene_monitor::LockedPlanningSceneRO *pps=nullptr)
 
void populateConstraintsList ()
 
void populateConstraintsList (const std::vector< std::string > &constr)
 
void populatePlannerDescription (const moveit_msgs::PlannerInterfaceDescription &desc)
 
void populatePlannersList (const std::vector< moveit_msgs::PlannerInterfaceDescription > &desc)
 
void populatePlanningSceneTreeView ()
 
void populateRobotStatesList ()
 
void processDetectedObjects ()
 
void publishTables ()
 
void remoteExecuteCallback (const std_msgs::EmptyConstPtr &msg)
 
void remotePlanCallback (const std_msgs::EmptyConstPtr &msg)
 
void remoteStopCallback (const std_msgs::EmptyConstPtr &msg)
 
void remoteUpdateCustomGoalStateCallback (const moveit_msgs::RobotStateConstPtr &msg)
 
void remoteUpdateCustomStartStateCallback (const moveit_msgs::RobotStateConstPtr &msg)
 
void remoteUpdateGoalStateCallback (const std_msgs::EmptyConstPtr &msg)
 
void remoteUpdateStartStateCallback (const std_msgs::EmptyConstPtr &msg)
 
void renameCollisionObject (QListWidgetItem *item)
 
void saveRobotStateButtonClicked (const moveit::core::RobotState &state)
 
void startStateTextChangedExec (const std::string &start_state)
 
void triggerObjectDetection ()
 
void updateCollisionObjectPose (bool update_marker_position)
 
void updateDetectedObjectsList (const std::vector< std::string > &object_ids)
 
void updateQueryStateHelper (moveit::core::RobotState &state, const std::string &v)
 
void updateSupportSurfacesList ()
 
void updateTables ()
 
template<typename T >
void waitForAction (const T &action, const ros::Duration &wait_for_server, const std::string &name)
 

Private Attributes

ros::ServiceClient clear_octomap_service_client_
 
ros::Subscriber execute_subscriber_
 
bool first_time_
 
std::vector< std::pair< std::string, bool > > known_collision_objects_
 
long unsigned int known_collision_objects_version_
 
ros::NodeHandle nh_
 
std::unique_ptr< actionlib::SimpleActionClient< object_recognition_msgs::ObjectRecognitionAction > > object_recognition_client_
 
ros::Subscriber object_recognition_subscriber_
 
ros::Publisher object_recognition_trigger_publisher_
 
std::map< std::string, std::string > pick_object_name_
 
std::string place_object_name_
 
std::vector< geometry_msgs::PoseStamped > place_poses_
 
ros::Subscriber plan_subscriber_
 
ros::Publisher planning_scene_publisher_
 
ros::Publisher planning_scene_world_publisher_
 
collision_detection::CollisionEnv::ObjectConstPtr scaled_object_
 
EigenSTL::vector_Isometry3d scaled_object_shape_poses_
 
moveit::core::FixedTransformsMap scaled_object_subframes_
 
std::string selected_object_name_
 
std::string selected_support_surface_name_
 
ros::Subscriber stop_subscriber_
 
std::string support_surface_name_
 
ros::Subscriber update_custom_goal_state_subscriber_
 
ros::Subscriber update_custom_start_state_subscriber_
 
ros::Subscriber update_goal_state_subscriber_
 
ros::Subscriber update_start_state_subscriber_
 

Friends

class MotionPlanningDisplay
 

Detailed Description

Definition at line 98 of file motion_planning_frame.h.

Member Typedef Documentation

◆ RobotStateMap

typedef std::map<std::string, moveit_msgs::RobotState> moveit_rviz_plugin::MotionPlanningFrame::RobotStateMap
protected

Definition at line 140 of file motion_planning_frame.h.

◆ RobotStatePair

typedef std::pair<std::string, moveit_msgs::RobotState> moveit_rviz_plugin::MotionPlanningFrame::RobotStatePair
protected

Definition at line 141 of file motion_planning_frame.h.

Constructor & Destructor Documentation

◆ MotionPlanningFrame() [1/2]

moveit_rviz_plugin::MotionPlanningFrame::MotionPlanningFrame ( const MotionPlanningFrame &  )
delete

◆ MotionPlanningFrame() [2/2]

moveit_rviz_plugin::MotionPlanningFrame::MotionPlanningFrame ( MotionPlanningDisplay *  pdisplay,
rviz::DisplayContext *  context,
QWidget *  parent = nullptr 
)

Definition at line 95 of file motion_planning_frame.cpp.

◆ ~MotionPlanningFrame()

moveit_rviz_plugin::MotionPlanningFrame::~MotionPlanningFrame ( )
override

Definition at line 260 of file motion_planning_frame.cpp.

Member Function Documentation

◆ addCollisionObjectToList()

QListWidgetItem * moveit_rviz_plugin::MotionPlanningFrame::addCollisionObjectToList ( const std::string &  name,
int  row,
bool  attached 
)
private

Definition at line 894 of file motion_planning_frame_objects.cpp.

◆ addSceneObject

void moveit_rviz_plugin::MotionPlanningFrame::addSceneObject ( )
privateslot

Definition at line 454 of file motion_planning_frame.cpp.

◆ allowExternalProgramCommunication

void moveit_rviz_plugin::MotionPlanningFrame::allowExternalProgramCommunication ( bool  enable)
privateslot

Definition at line 270 of file motion_planning_frame.cpp.

◆ allowLookingToggled

void moveit_rviz_plugin::MotionPlanningFrame::allowLookingToggled ( bool  checked)
privateslot

Definition at line 119 of file motion_planning_frame_planning.cpp.

◆ allowReplanningToggled

void moveit_rviz_plugin::MotionPlanningFrame::allowReplanningToggled ( bool  checked)
privateslot

Definition at line 113 of file motion_planning_frame_planning.cpp.

◆ approximateIKChanged

void moveit_rviz_plugin::MotionPlanningFrame::approximateIKChanged ( int  state)
privateslot

Definition at line 265 of file motion_planning_frame.cpp.

◆ attachDetachCollisionObject()

void moveit_rviz_plugin::MotionPlanningFrame::attachDetachCollisionObject ( QListWidgetItem *  item)
private

Definition at line 836 of file motion_planning_frame_objects.cpp.

◆ changePlanningGroup()

void moveit_rviz_plugin::MotionPlanningFrame::changePlanningGroup ( )

Definition at line 440 of file motion_planning_frame.cpp.

◆ changePlanningGroupHelper()

void moveit_rviz_plugin::MotionPlanningFrame::changePlanningGroupHelper ( )
private

Definition at line 362 of file motion_planning_frame.cpp.

◆ checkPlanningSceneTreeEnabledButtons()

void moveit_rviz_plugin::MotionPlanningFrame::checkPlanningSceneTreeEnabledButtons ( )
private

Definition at line 584 of file motion_planning_frame_objects.cpp.

◆ clearRobotModel()

void moveit_rviz_plugin::MotionPlanningFrame::clearRobotModel ( )

Definition at line 433 of file motion_planning_frame.cpp.

◆ clearScene

void moveit_rviz_plugin::MotionPlanningFrame::clearScene ( )
privateslot

Definition at line 138 of file motion_planning_frame_objects.cpp.

◆ clearStatesButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::clearStatesButtonClicked ( )
privateslot

Definition at line 276 of file motion_planning_frame_states.cpp.

◆ collisionObjectChanged

void moveit_rviz_plugin::MotionPlanningFrame::collisionObjectChanged ( QListWidgetItem *  item)
privateslot

Definition at line 388 of file motion_planning_frame_objects.cpp.

◆ computeCartesianPlan

bool moveit_rviz_plugin::MotionPlanningFrame::computeCartesianPlan ( )
privateslot

Definition at line 147 of file motion_planning_frame_planning.cpp.

◆ computeDatabaseConnectButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computeDatabaseConnectButtonClicked ( )
private

Definition at line 145 of file motion_planning_frame_context.cpp.

◆ computeDatabaseConnectButtonClickedHelper()

void moveit_rviz_plugin::MotionPlanningFrame::computeDatabaseConnectButtonClickedHelper ( int  mode)
private

Definition at line 183 of file motion_planning_frame_context.cpp.

◆ computeDeleteQueryButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computeDeleteQueryButtonClicked ( )
private

Definition at line 551 of file motion_planning_frame_objects.cpp.

◆ computeDeleteQueryButtonClickedHelper()

void moveit_rviz_plugin::MotionPlanningFrame::computeDeleteQueryButtonClickedHelper ( QTreeWidgetItem *  s)
private

Definition at line 577 of file motion_planning_frame_objects.cpp.

◆ computeDeleteSceneButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computeDeleteSceneButtonClicked ( )
private

Definition at line 513 of file motion_planning_frame_objects.cpp.

◆ computeExecuteButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computeExecuteButtonClicked ( )
private

Definition at line 229 of file motion_planning_frame_planning.cpp.

◆ computeExportGeometryAsText()

void moveit_rviz_plugin::MotionPlanningFrame::computeExportGeometryAsText ( const std::string &  path)
private

Definition at line 968 of file motion_planning_frame_objects.cpp.

◆ computeImportGeometryFromText()

void moveit_rviz_plugin::MotionPlanningFrame::computeImportGeometryFromText ( const std::string &  path)
private

Definition at line 986 of file motion_planning_frame_objects.cpp.

◆ computeJointSpacePlan

bool moveit_rviz_plugin::MotionPlanningFrame::computeJointSpacePlan ( )
privateslot

Definition at line 192 of file motion_planning_frame_planning.cpp.

◆ computeLoadQueryButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computeLoadQueryButtonClicked ( )
private

Definition at line 674 of file motion_planning_frame_objects.cpp.

◆ computeLoadSceneButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computeLoadSceneButtonClicked ( )
private

Definition at line 620 of file motion_planning_frame_objects.cpp.

◆ computePlanAndExecuteButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computePlanAndExecuteButtonClicked ( )
private

Definition at line 241 of file motion_planning_frame_planning.cpp.

◆ computePlanAndExecuteButtonClickedDisplayHelper()

void moveit_rviz_plugin::MotionPlanningFrame::computePlanAndExecuteButtonClickedDisplayHelper ( )
private

◆ computePlanButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computePlanButtonClicked ( )
private

Definition at line 198 of file motion_planning_frame_planning.cpp.

◆ computeResetDbButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computeResetDbButtonClicked ( const std::string &  db)
private

Definition at line 238 of file motion_planning_frame_context.cpp.

◆ computeSaveQueryButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computeSaveQueryButtonClicked ( const std::string &  scene,
const std::string &  query_name 
)
private

Definition at line 492 of file motion_planning_frame_objects.cpp.

◆ computeSaveSceneButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computeSaveSceneButtonClicked ( )
private

Definition at line 472 of file motion_planning_frame_objects.cpp.

◆ computeStopButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::computeStopButtonClicked ( )
private

Definition at line 266 of file motion_planning_frame_planning.cpp.

◆ configChanged

void moveit_rviz_plugin::MotionPlanningFrame::configChanged ( )
signal

◆ configureForPlanning()

void moveit_rviz_plugin::MotionPlanningFrame::configureForPlanning ( )
private

Definition at line 561 of file motion_planning_frame_planning.cpp.

◆ configureWorkspace()

void moveit_rviz_plugin::MotionPlanningFrame::configureWorkspace ( )
private

Definition at line 524 of file motion_planning_frame_planning.cpp.

◆ constructPlanningRequest()

void moveit_rviz_plugin::MotionPlanningFrame::constructPlanningRequest ( moveit_msgs::MotionPlanRequest &  mreq)
protected

Definition at line 501 of file motion_planning_frame_planning.cpp.

◆ copySelectedCollisionObjects

void moveit_rviz_plugin::MotionPlanningFrame::copySelectedCollisionObjects ( )
privateslot

Definition at line 438 of file motion_planning_frame_objects.cpp.

◆ createObjectMarkerMsg()

visualization_msgs::InteractiveMarker moveit_rviz_plugin::MotionPlanningFrame::createObjectMarkerMsg ( const collision_detection::CollisionEnv::ObjectConstPtr &  obj)
private

Definition at line 726 of file motion_planning_frame_objects.cpp.

◆ createSceneInteractiveMarker()

void moveit_rviz_plugin::MotionPlanningFrame::createSceneInteractiveMarker ( )
private

Definition at line 745 of file motion_planning_frame_objects.cpp.

◆ currentCollisionObjectChanged

void moveit_rviz_plugin::MotionPlanningFrame::currentCollisionObjectChanged ( )
privateslot

Definition at line 280 of file motion_planning_frame_objects.cpp.

◆ databaseConnectButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::databaseConnectButtonClicked ( )
privateslot

Definition at line 86 of file motion_planning_frame_context.cpp.

◆ deleteQueryButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::deleteQueryButtonClicked ( )
privateslot

Definition at line 221 of file motion_planning_frame_scenes.cpp.

◆ deleteSceneButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::deleteSceneButtonClicked ( )
privateslot

Definition at line 216 of file motion_planning_frame_scenes.cpp.

◆ detectedObjectChanged

void moveit_rviz_plugin::MotionPlanningFrame::detectedObjectChanged ( QListWidgetItem *  item)
privateslot

Definition at line 164 of file motion_planning_frame_manipulation.cpp.

◆ detectObjectsButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::detectObjectsButtonClicked ( )
privateslot

Definition at line 83 of file motion_planning_frame_manipulation.cpp.

◆ disable()

void moveit_rviz_plugin::MotionPlanningFrame::disable ( )

Definition at line 635 of file motion_planning_frame.cpp.

◆ enable()

void moveit_rviz_plugin::MotionPlanningFrame::enable ( )

Definition at line 580 of file motion_planning_frame.cpp.

◆ executeButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::executeButtonClicked ( )
privateslot

Definition at line 91 of file motion_planning_frame_planning.cpp.

◆ exportGeometryAsTextButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::exportGeometryAsTextButtonClicked ( )
privateslot

Definition at line 959 of file motion_planning_frame_objects.cpp.

◆ fillPlanningGroupOptions()

void moveit_rviz_plugin::MotionPlanningFrame::fillPlanningGroupOptions ( )
private

Definition at line 306 of file motion_planning_frame.cpp.

◆ fillStateSelectionOptions()

void moveit_rviz_plugin::MotionPlanningFrame::fillStateSelectionOptions ( )
private

Definition at line 316 of file motion_planning_frame.cpp.

◆ goalStateTextChanged

void moveit_rviz_plugin::MotionPlanningFrame::goalStateTextChanged ( const QString &  goal_state)
privateslot

Definition at line 317 of file motion_planning_frame_planning.cpp.

◆ goalStateTextChangedExec()

void moveit_rviz_plugin::MotionPlanningFrame::goalStateTextChangedExec ( const std::string &  goal_state)
private

Definition at line 324 of file motion_planning_frame_planning.cpp.

◆ importGeometryFromTextButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::importGeometryFromTextButtonClicked ( )
privateslot

Definition at line 1009 of file motion_planning_frame_objects.cpp.

◆ imProcessFeedback

void moveit_rviz_plugin::MotionPlanningFrame::imProcessFeedback ( visualization_msgs::InteractiveMarkerFeedback &  feedback)
privateslot

Definition at line 405 of file motion_planning_frame_objects.cpp.

◆ initFromMoveGroupNS()

void moveit_rviz_plugin::MotionPlanningFrame::initFromMoveGroupNS ( )
protected

Definition at line 601 of file motion_planning_frame.cpp.

◆ isLocalSceneDirty

bool moveit_rviz_plugin::MotionPlanningFrame::isLocalSceneDirty ( ) const
privateslot

Definition at line 111 of file motion_planning_frame_objects.cpp.

◆ listenDetectedObjects()

void moveit_rviz_plugin::MotionPlanningFrame::listenDetectedObjects ( const object_recognition_msgs::RecognizedObjectArrayPtr &  msg)
private

Definition at line 198 of file motion_planning_frame_manipulation.cpp.

◆ loadMeshResource()

shapes::ShapePtr moveit_rviz_plugin::MotionPlanningFrame::loadMeshResource ( const std::string &  url)
private

Definition at line 534 of file motion_planning_frame.cpp.

◆ loadQueryButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::loadQueryButtonClicked ( )
privateslot

Definition at line 231 of file motion_planning_frame_scenes.cpp.

◆ loadSceneButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::loadSceneButtonClicked ( )
privateslot

Definition at line 226 of file motion_planning_frame_scenes.cpp.

◆ loadStateButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::loadStateButtonClicked ( )
privateslot

Definition at line 91 of file motion_planning_frame_states.cpp.

◆ loadStoredStates()

void moveit_rviz_plugin::MotionPlanningFrame::loadStoredStates ( const std::string &  pattern)
private

Definition at line 110 of file motion_planning_frame_states.cpp.

◆ objectPoseValueChanged

void moveit_rviz_plugin::MotionPlanningFrame::objectPoseValueChanged ( double  value)
privateslot

Definition at line 347 of file motion_planning_frame_objects.cpp.

◆ onClearOctomapClicked

void moveit_rviz_plugin::MotionPlanningFrame::onClearOctomapClicked ( )
privateslot

Definition at line 140 of file motion_planning_frame_planning.cpp.

◆ onFinishedExecution()

void moveit_rviz_plugin::MotionPlanningFrame::onFinishedExecution ( bool  success)
private

Definition at line 272 of file motion_planning_frame_planning.cpp.

◆ onNewPlanningSceneState

void moveit_rviz_plugin::MotionPlanningFrame::onNewPlanningSceneState ( )
privateslot

Definition at line 291 of file motion_planning_frame_planning.cpp.

◆ pathConstraintsIndexChanged

void moveit_rviz_plugin::MotionPlanningFrame::pathConstraintsIndexChanged ( int  index)
privateslot

Definition at line 125 of file motion_planning_frame_planning.cpp.

◆ pickObject()

void moveit_rviz_plugin::MotionPlanningFrame::pickObject ( )
private

Definition at line 379 of file motion_planning_frame_manipulation.cpp.

◆ pickObjectButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::pickObjectButtonClicked ( )
privateslot

Definition at line 296 of file motion_planning_frame_manipulation.cpp.

◆ placeObject()

void moveit_rviz_plugin::MotionPlanningFrame::placeObject ( )
private

Definition at line 398 of file motion_planning_frame_manipulation.cpp.

◆ placeObjectButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::placeObjectButtonClicked ( )
privateslot

Definition at line 333 of file motion_planning_frame_manipulation.cpp.

◆ planAndExecuteButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::planAndExecuteButtonClicked ( )
privateslot

Definition at line 98 of file motion_planning_frame_planning.cpp.

◆ planButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::planButtonClicked ( )
privateslot

Definition at line 85 of file motion_planning_frame_planning.cpp.

◆ planningAlgorithmIndexChanged

void moveit_rviz_plugin::MotionPlanningFrame::planningAlgorithmIndexChanged ( int  index)
privateslot

Definition at line 104 of file motion_planning_frame_context.cpp.

◆ planningFinished

void moveit_rviz_plugin::MotionPlanningFrame::planningFinished ( )
signal

◆ planningGroupTextChanged

void moveit_rviz_plugin::MotionPlanningFrame::planningGroupTextChanged ( const QString &  planning_group)
privateslot

Definition at line 331 of file motion_planning_frame_planning.cpp.

◆ planningPipelineIndexChanged

void moveit_rviz_plugin::MotionPlanningFrame::planningPipelineIndexChanged ( int  index)
privateslot

Definition at line 91 of file motion_planning_frame_context.cpp.

◆ planningSceneItemClicked

void moveit_rviz_plugin::MotionPlanningFrame::planningSceneItemClicked ( )
privateslot

Definition at line 147 of file motion_planning_frame_scenes.cpp.

◆ populateCollisionObjectsList()

void moveit_rviz_plugin::MotionPlanningFrame::populateCollisionObjectsList ( planning_scene_monitor::LockedPlanningSceneRO *  pps = nullptr)
private

Definition at line 904 of file motion_planning_frame_objects.cpp.

◆ populateConstraintsList() [1/2]

void moveit_rviz_plugin::MotionPlanningFrame::populateConstraintsList ( )
private

Definition at line 487 of file motion_planning_frame_planning.cpp.

◆ populateConstraintsList() [2/2]

void moveit_rviz_plugin::MotionPlanningFrame::populateConstraintsList ( const std::vector< std::string > &  constr)
private

Definition at line 493 of file motion_planning_frame_planning.cpp.

◆ populatePlannerDescription()

void moveit_rviz_plugin::MotionPlanningFrame::populatePlannerDescription ( const moveit_msgs::PlannerInterfaceDescription &  desc)
private

Definition at line 440 of file motion_planning_frame_planning.cpp.

◆ populatePlannersList()

void moveit_rviz_plugin::MotionPlanningFrame::populatePlannersList ( const std::vector< moveit_msgs::PlannerInterfaceDescription > &  desc)
private

Definition at line 413 of file motion_planning_frame_planning.cpp.

◆ populatePlanningSceneTreeView()

void moveit_rviz_plugin::MotionPlanningFrame::populatePlanningSceneTreeView ( )
private

Definition at line 285 of file motion_planning_frame_scenes.cpp.

◆ populateRobotStatesList()

void moveit_rviz_plugin::MotionPlanningFrame::populateRobotStatesList ( )
private

Definition at line 81 of file motion_planning_frame_states.cpp.

◆ processDetectedObjects()

void moveit_rviz_plugin::MotionPlanningFrame::processDetectedObjects ( )
private

Definition at line 100 of file motion_planning_frame_manipulation.cpp.

◆ publishScene

void moveit_rviz_plugin::MotionPlanningFrame::publishScene ( )
privateslot

Definition at line 116 of file motion_planning_frame_objects.cpp.

◆ publishSceneIfNeeded

void moveit_rviz_plugin::MotionPlanningFrame::publishSceneIfNeeded ( )
privateslot

Definition at line 128 of file motion_planning_frame_objects.cpp.

◆ publishTables()

void moveit_rviz_plugin::MotionPlanningFrame::publishTables ( )
private

Definition at line 234 of file motion_planning_frame_manipulation.cpp.

◆ remoteExecuteCallback()

void moveit_rviz_plugin::MotionPlanningFrame::remoteExecuteCallback ( const std_msgs::EmptyConstPtr &  msg)
private

Definition at line 579 of file motion_planning_frame_planning.cpp.

◆ remotePlanCallback()

void moveit_rviz_plugin::MotionPlanningFrame::remotePlanCallback ( const std_msgs::EmptyConstPtr &  msg)
private

Definition at line 574 of file motion_planning_frame_planning.cpp.

◆ remoteStopCallback()

void moveit_rviz_plugin::MotionPlanningFrame::remoteStopCallback ( const std_msgs::EmptyConstPtr &  msg)
private

Definition at line 584 of file motion_planning_frame_planning.cpp.

◆ remoteUpdateCustomGoalStateCallback()

void moveit_rviz_plugin::MotionPlanningFrame::remoteUpdateCustomGoalStateCallback ( const moveit_msgs::RobotStateConstPtr &  msg)
private

Definition at line 635 of file motion_planning_frame_planning.cpp.

◆ remoteUpdateCustomStartStateCallback()

void moveit_rviz_plugin::MotionPlanningFrame::remoteUpdateCustomStartStateCallback ( const moveit_msgs::RobotStateConstPtr &  msg)
private

Definition at line 617 of file motion_planning_frame_planning.cpp.

◆ remoteUpdateGoalStateCallback()

void moveit_rviz_plugin::MotionPlanningFrame::remoteUpdateGoalStateCallback ( const std_msgs::EmptyConstPtr &  msg)
private

Definition at line 603 of file motion_planning_frame_planning.cpp.

◆ remoteUpdateStartStateCallback()

void moveit_rviz_plugin::MotionPlanningFrame::remoteUpdateStartStateCallback ( const std_msgs::EmptyConstPtr &  msg)
private

Definition at line 589 of file motion_planning_frame_planning.cpp.

◆ removeSceneObjects

void moveit_rviz_plugin::MotionPlanningFrame::removeSceneObjects ( )
privateslot

Definition at line 214 of file motion_planning_frame_objects.cpp.

◆ removeStateButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::removeStateButtonClicked ( )
privateslot

Definition at line 239 of file motion_planning_frame_states.cpp.

◆ renameCollisionObject()

void moveit_rviz_plugin::MotionPlanningFrame::renameCollisionObject ( QListWidgetItem *  item)
private

Definition at line 771 of file motion_planning_frame_objects.cpp.

◆ resetDbButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::resetDbButtonClicked ( )
privateslot

Definition at line 116 of file motion_planning_frame_context.cpp.

◆ saveGoalStateButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::saveGoalStateButtonClicked ( )
privateslot

Definition at line 210 of file motion_planning_frame_states.cpp.

◆ saveQueryButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::saveQueryButtonClicked ( )
privateslot

Definition at line 152 of file motion_planning_frame_scenes.cpp.

◆ saveRobotStateButtonClicked()

void moveit_rviz_plugin::MotionPlanningFrame::saveRobotStateButtonClicked ( const moveit::core::RobotState &  state)
private

Definition at line 154 of file motion_planning_frame_states.cpp.

◆ saveSceneButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::saveSceneButtonClicked ( )
privateslot

Definition at line 95 of file motion_planning_frame_scenes.cpp.

◆ saveStartStateButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::saveStartStateButtonClicked ( )
privateslot

Definition at line 205 of file motion_planning_frame_states.cpp.

◆ sceneScaleChanged

void moveit_rviz_plugin::MotionPlanningFrame::sceneScaleChanged ( int  value)
privateslot

Definition at line 151 of file motion_planning_frame_objects.cpp.

◆ sceneScaleEndChange

void moveit_rviz_plugin::MotionPlanningFrame::sceneScaleEndChange ( )
privateslot

Definition at line 208 of file motion_planning_frame_objects.cpp.

◆ sceneScaleStartChange

void moveit_rviz_plugin::MotionPlanningFrame::sceneScaleStartChange ( )
privateslot

Definition at line 191 of file motion_planning_frame_objects.cpp.

◆ sceneUpdate()

void moveit_rviz_plugin::MotionPlanningFrame::sceneUpdate ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType  update_type)

Definition at line 448 of file motion_planning_frame.cpp.

◆ selectedDetectedObjectChanged

void moveit_rviz_plugin::MotionPlanningFrame::selectedDetectedObjectChanged ( )
privateslot

Definition at line 140 of file motion_planning_frame_manipulation.cpp.

◆ selectedSupportSurfaceChanged

void moveit_rviz_plugin::MotionPlanningFrame::selectedSupportSurfaceChanged ( )
privateslot

Definition at line 240 of file motion_planning_frame_manipulation.cpp.

◆ setAsGoalStateButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::setAsGoalStateButtonClicked ( )
privateslot

Definition at line 227 of file motion_planning_frame_states.cpp.

◆ setAsStartStateButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::setAsStartStateButtonClicked ( )
privateslot

Definition at line 215 of file motion_planning_frame_states.cpp.

◆ setLocalSceneEdited

void moveit_rviz_plugin::MotionPlanningFrame::setLocalSceneEdited ( bool  dirty = true)
privateslot

Definition at line 106 of file motion_planning_frame_objects.cpp.

◆ shapesComboBoxChanged

void moveit_rviz_plugin::MotionPlanningFrame::shapesComboBoxChanged ( const QString &  text)
privateslot

Definition at line 76 of file motion_planning_frame_objects.cpp.

◆ startStateTextChanged

void moveit_rviz_plugin::MotionPlanningFrame::startStateTextChanged ( const QString &  start_state)
privateslot

Definition at line 303 of file motion_planning_frame_planning.cpp.

◆ startStateTextChangedExec()

void moveit_rviz_plugin::MotionPlanningFrame::startStateTextChangedExec ( const std::string &  start_state)
private

Definition at line 310 of file motion_planning_frame_planning.cpp.

◆ stopButtonClicked

void moveit_rviz_plugin::MotionPlanningFrame::stopButtonClicked ( )
privateslot

Definition at line 107 of file motion_planning_frame_planning.cpp.

◆ tabChanged

void moveit_rviz_plugin::MotionPlanningFrame::tabChanged ( int  index)
privateslot

Definition at line 643 of file motion_planning_frame.cpp.

◆ triggerObjectDetection()

void moveit_rviz_plugin::MotionPlanningFrame::triggerObjectDetection ( )
private

Definition at line 168 of file motion_planning_frame_manipulation.cpp.

◆ updateCollisionObjectPose()

void moveit_rviz_plugin::MotionPlanningFrame::updateCollisionObjectPose ( bool  update_marker_position)
private

Definition at line 352 of file motion_planning_frame_objects.cpp.

◆ updateDetectedObjectsList()

void moveit_rviz_plugin::MotionPlanningFrame::updateDetectedObjectsList ( const std::vector< std::string > &  object_ids)
private

Definition at line 204 of file motion_planning_frame_manipulation.cpp.

◆ updateExternalCommunication()

void moveit_rviz_plugin::MotionPlanningFrame::updateExternalCommunication ( )
protected

Definition at line 657 of file motion_planning_frame.cpp.

◆ updateQueryStateHelper()

void moveit_rviz_plugin::MotionPlanningFrame::updateQueryStateHelper ( moveit::core::RobotState &  state,
const std::string &  v 
)
private

Definition at line 336 of file motion_planning_frame_planning.cpp.

◆ updateSceneMarkers()

void moveit_rviz_plugin::MotionPlanningFrame::updateSceneMarkers ( float  wall_dt,
float  ros_dt 
)
protected

Definition at line 651 of file motion_planning_frame.cpp.

◆ updateSupportSurfacesList()

void moveit_rviz_plugin::MotionPlanningFrame::updateSupportSurfacesList ( )
private

Definition at line 264 of file motion_planning_frame_manipulation.cpp.

◆ updateTables()

void moveit_rviz_plugin::MotionPlanningFrame::updateTables ( )
private

Definition at line 228 of file motion_planning_frame_manipulation.cpp.

◆ waitForAction()

template<typename T >
void moveit_rviz_plugin::MotionPlanningFrame::waitForAction ( const T &  action,
const ros::Duration &  wait_for_server,
const std::string &  name 
)
private

Definition at line 339 of file motion_planning_frame.h.

◆ warehouseItemNameChanged

void moveit_rviz_plugin::MotionPlanningFrame::warehouseItemNameChanged ( QTreeWidgetItem *  item,
int  column 
)
privateslot

Definition at line 236 of file motion_planning_frame_scenes.cpp.

Friends And Related Function Documentation

◆ MotionPlanningDisplay

friend class MotionPlanningDisplay
friend

Definition at line 100 of file motion_planning_frame.h.

Member Data Documentation

◆ clear_octomap_service_client_

ros::ServiceClient moveit_rviz_plugin::MotionPlanningFrame::clear_octomap_service_client_
private

Definition at line 334 of file motion_planning_frame.h.

◆ constraints_storage_

moveit_warehouse::ConstraintsStoragePtr moveit_rviz_plugin::MotionPlanningFrame::constraints_storage_
protected

Definition at line 135 of file motion_planning_frame.h.

◆ context_

rviz::DisplayContext* moveit_rviz_plugin::MotionPlanningFrame::context_
protected

Definition at line 126 of file motion_planning_frame.h.

◆ current_plan_

moveit::planning_interface::MoveGroupInterface::PlanPtr moveit_rviz_plugin::MotionPlanningFrame::current_plan_
protected

Definition at line 133 of file motion_planning_frame.h.

◆ default_planning_pipeline_

std::string moveit_rviz_plugin::MotionPlanningFrame::default_planning_pipeline_
protected

Definition at line 143 of file motion_planning_frame.h.

◆ execute_subscriber_

ros::Subscriber moveit_rviz_plugin::MotionPlanningFrame::execute_subscriber_
private

Definition at line 304 of file motion_planning_frame.h.

◆ first_time_

bool moveit_rviz_plugin::MotionPlanningFrame::first_time_
private

Definition at line 333 of file motion_planning_frame.h.

◆ ITEM_TYPE_QUERY

const int moveit_rviz_plugin::MotionPlanningFrame::ITEM_TYPE_QUERY = 2
staticprotected

Definition at line 116 of file motion_planning_frame.h.

◆ ITEM_TYPE_SCENE

const int moveit_rviz_plugin::MotionPlanningFrame::ITEM_TYPE_SCENE = 1
staticprotected

Definition at line 115 of file motion_planning_frame.h.

◆ joints_tab_

MotionPlanningFrameJointsWidget* moveit_rviz_plugin::MotionPlanningFrame::joints_tab_
protected

Definition at line 128 of file motion_planning_frame.h.

◆ known_collision_objects_

std::vector<std::pair<std::string, bool> > moveit_rviz_plugin::MotionPlanningFrame::known_collision_objects_
private

Definition at line 331 of file motion_planning_frame.h.

◆ known_collision_objects_version_

long unsigned int moveit_rviz_plugin::MotionPlanningFrame::known_collision_objects_version_
private

Definition at line 332 of file motion_planning_frame.h.

◆ move_group_

moveit::planning_interface::MoveGroupInterfacePtr moveit_rviz_plugin::MotionPlanningFrame::move_group_
protected

Definition at line 130 of file motion_planning_frame.h.

◆ nh_

ros::NodeHandle moveit_rviz_plugin::MotionPlanningFrame::nh_
private

Definition at line 323 of file motion_planning_frame.h.

◆ object_recognition_client_

std::unique_ptr<actionlib::SimpleActionClient<object_recognition_msgs::ObjectRecognitionAction> > moveit_rviz_plugin::MotionPlanningFrame::object_recognition_client_
private

Definition at line 297 of file motion_planning_frame.h.

◆ object_recognition_subscriber_

ros::Subscriber moveit_rviz_plugin::MotionPlanningFrame::object_recognition_subscriber_
private

Definition at line 301 of file motion_planning_frame.h.

◆ object_recognition_trigger_publisher_

ros::Publisher moveit_rviz_plugin::MotionPlanningFrame::object_recognition_trigger_publisher_
private

Definition at line 283 of file motion_planning_frame.h.

◆ pick_object_name_

std::map<std::string, std::string> moveit_rviz_plugin::MotionPlanningFrame::pick_object_name_
private

Definition at line 284 of file motion_planning_frame.h.

◆ place_object_name_

std::string moveit_rviz_plugin::MotionPlanningFrame::place_object_name_
private

Definition at line 285 of file motion_planning_frame.h.

◆ place_poses_

std::vector<geometry_msgs::PoseStamped> moveit_rviz_plugin::MotionPlanningFrame::place_poses_
private

Definition at line 286 of file motion_planning_frame.h.

◆ plan_subscriber_

ros::Subscriber moveit_rviz_plugin::MotionPlanningFrame::plan_subscriber_
private

Definition at line 303 of file motion_planning_frame.h.

◆ planner_descriptions_

std::vector<moveit_msgs::PlannerInterfaceDescription> moveit_rviz_plugin::MotionPlanningFrame::planner_descriptions_
protected

Definition at line 144 of file motion_planning_frame.h.

◆ planning_display_

MotionPlanningDisplay* moveit_rviz_plugin::MotionPlanningFrame::planning_display_
protected

Definition at line 125 of file motion_planning_frame.h.

◆ planning_scene_publisher_

ros::Publisher moveit_rviz_plugin::MotionPlanningFrame::planning_scene_publisher_
private

Definition at line 324 of file motion_planning_frame.h.

◆ planning_scene_storage_

moveit_warehouse::PlanningSceneStoragePtr moveit_rviz_plugin::MotionPlanningFrame::planning_scene_storage_
protected

Definition at line 134 of file motion_planning_frame.h.

◆ planning_scene_world_publisher_

ros::Publisher moveit_rviz_plugin::MotionPlanningFrame::planning_scene_world_publisher_
private

Definition at line 325 of file motion_planning_frame.h.

◆ robot_state_storage_

moveit_warehouse::RobotStateStoragePtr moveit_rviz_plugin::MotionPlanningFrame::robot_state_storage_
protected

Definition at line 136 of file motion_planning_frame.h.

◆ robot_states_

RobotStateMap moveit_rviz_plugin::MotionPlanningFrame::robot_states_
protected

Definition at line 142 of file motion_planning_frame.h.

◆ scaled_object_

collision_detection::CollisionEnv::ObjectConstPtr moveit_rviz_plugin::MotionPlanningFrame::scaled_object_
private

Definition at line 327 of file motion_planning_frame.h.

◆ scaled_object_shape_poses_

EigenSTL::vector_Isometry3d moveit_rviz_plugin::MotionPlanningFrame::scaled_object_shape_poses_
private

Definition at line 329 of file motion_planning_frame.h.

◆ scaled_object_subframes_

moveit::core::FixedTransformsMap moveit_rviz_plugin::MotionPlanningFrame::scaled_object_subframes_
private

Definition at line 328 of file motion_planning_frame.h.

◆ scene_marker_

std::shared_ptr<rviz::InteractiveMarker> moveit_rviz_plugin::MotionPlanningFrame::scene_marker_
protected

Definition at line 138 of file motion_planning_frame.h.

◆ selected_object_name_

std::string moveit_rviz_plugin::MotionPlanningFrame::selected_object_name_
private

Definition at line 293 of file motion_planning_frame.h.

◆ selected_support_surface_name_

std::string moveit_rviz_plugin::MotionPlanningFrame::selected_support_surface_name_
private

Definition at line 294 of file motion_planning_frame.h.

◆ semantic_world_

moveit::semantic_world::SemanticWorldPtr moveit_rviz_plugin::MotionPlanningFrame::semantic_world_
protected

Definition at line 131 of file motion_planning_frame.h.

◆ stop_subscriber_

ros::Subscriber moveit_rviz_plugin::MotionPlanningFrame::stop_subscriber_
private

Definition at line 305 of file motion_planning_frame.h.

◆ support_surface_name_

std::string moveit_rviz_plugin::MotionPlanningFrame::support_surface_name_
private

Definition at line 291 of file motion_planning_frame.h.

◆ ui_

Ui::MotionPlanningUI* moveit_rviz_plugin::MotionPlanningFrame::ui_
protected

Definition at line 127 of file motion_planning_frame.h.

◆ update_custom_goal_state_subscriber_

ros::Subscriber moveit_rviz_plugin::MotionPlanningFrame::update_custom_goal_state_subscriber_
private

Definition at line 309 of file motion_planning_frame.h.

◆ update_custom_start_state_subscriber_

ros::Subscriber moveit_rviz_plugin::MotionPlanningFrame::update_custom_start_state_subscriber_
private

Definition at line 308 of file motion_planning_frame.h.

◆ update_goal_state_subscriber_

ros::Subscriber moveit_rviz_plugin::MotionPlanningFrame::update_goal_state_subscriber_
private

Definition at line 307 of file motion_planning_frame.h.

◆ update_start_state_subscriber_

ros::Subscriber moveit_rviz_plugin::MotionPlanningFrame::update_start_state_subscriber_
private

Definition at line 306 of file motion_planning_frame.h.

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

visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Thu Feb 27 2025 03:29:15