#include <imarker_robot_state.h>

Public Member Functions
IMarkerEndEffectorPtr	getEEF (const std::string &name)

bool	getFilePath (std::string &file_path, const std::string &file_name, const std::string &subdirectory) const

moveit::core::RobotStateConstPtr	getRobotState ()
	Get a pointer to the current robot state. More...

moveit::core::RobotStatePtr	getRobotStateNonConst ()

moveit_visual_tools::MoveItVisualToolsPtr	getVisualTools ()

	IMarkerRobotState (planning_scene_monitor::PlanningSceneMonitorPtr psm, const std::string &imarker_name, std::vector< ArmData > arm_datas, rviz_visual_tools::colors color, const std::string &package_path)
	Constructor. More...

bool	isStateValid (bool verbose=false)
	Return true if the currently solved IK solution is valid. More...

bool	loadFromFile (const std::string &file_name)

void	publishRobotState ()
	Show current state in Rviz. More...

bool	saveToFile ()

bool	setFromPoses (const EigenSTL::vector_Isometry3d &poses, const moveit::core::JointModelGroup *group)

void	setIMarkerCallback (const IMarkerCallback &callback)
	Set where in the parent class the feedback should be sent. More...

void	setRobotState (const moveit::core::RobotStatePtr &state)
	Set the robot state. More...

void	setToCurrentState ()
	Set the robot state to current in planning scene monitor. More...

bool	setToRandomState (double clearance=0)
	Set the robot to a random position. More...

	~IMarkerRobotState ()

Protected Attributes
std::vector< ArmData >	arm_datas_

rviz_visual_tools::colors	color_ = rviz_visual_tools::PURPLE

std::vector< IMarkerEndEffectorPtr >	end_effectors_

std::string	file_path_

InteractiveMarkerServerPtr	imarker_server_

moveit::core::RobotStatePtr	imarker_state_

std::string	name_

std::map< std::string, IMarkerEndEffectorPtr >	name_to_eef_

ros::NodeHandle	nh_

std::ofstream	output_file_

std::string	package_path_

planning_scene_monitor::PlanningSceneMonitorPtr	psm_

std::size_t	refresh_rate_ = 30

moveit_visual_tools::MoveItVisualToolsPtr	visual_tools_

Friends
class	IMarkerEndEffector

Detailed Description

Definition at line 112 of file imarker_robot_state.h.

Constructor & Destructor Documentation

◆ IMarkerRobotState()

moveit_visual_tools::IMarkerRobotState::IMarkerRobotState	(	planning_scene_monitor::PlanningSceneMonitorPtr	psm,
		const std::string &	imarker_name,
		std::vector< ArmData >	arm_datas,
		rviz_visual_tools::colors	color,
		const std::string &	package_path
	)

Constructor.

Definition at line 113 of file imarker_robot_state.cpp.

◆ ~IMarkerRobotState()

moveit_visual_tools::IMarkerRobotState::~IMarkerRobotState ( )

inline

Definition at line 123 of file imarker_robot_state.h.

Member Function Documentation

◆ getEEF()

IMarkerEndEffectorPtr moveit_visual_tools::IMarkerRobotState::getEEF ( const std::string & name )

inline

Definition at line 168 of file imarker_robot_state.h.

◆ getFilePath()

bool moveit_visual_tools::IMarkerRobotState::getFilePath	(	std::string &	file_path,
		const std::string &	file_name,
		const std::string &	subdirectory
	)		const

Definition at line 310 of file imarker_robot_state.cpp.

◆ getRobotState()

moveit::core::RobotStateConstPtr moveit_visual_tools::IMarkerRobotState::getRobotState ( )

inline

Get a pointer to the current robot state.

Definition at line 136 of file imarker_robot_state.h.

◆ getRobotStateNonConst()

moveit::core::RobotStatePtr moveit_visual_tools::IMarkerRobotState::getRobotStateNonConst ( )

inline

Definition at line 140 of file imarker_robot_state.h.

◆ getVisualTools()

moveit_visual_tools::MoveItVisualToolsPtr moveit_visual_tools::IMarkerRobotState::getVisualTools ( )

Definition at line 305 of file imarker_robot_state.cpp.

◆ isStateValid()

bool moveit_visual_tools::IMarkerRobotState::isStateValid ( bool verbose = false )

Return true if the currently solved IK solution is valid.

Definition at line 289 of file imarker_robot_state.cpp.

◆ loadFromFile()

bool moveit_visual_tools::IMarkerRobotState::loadFromFile ( const std::string & file_name )

Definition at line 174 of file imarker_robot_state.cpp.

◆ publishRobotState()

void moveit_visual_tools::IMarkerRobotState::publishRobotState ( )

Show current state in Rviz.

Definition at line 300 of file imarker_robot_state.cpp.

◆ saveToFile()

bool moveit_visual_tools::IMarkerRobotState::saveToFile ( )

Definition at line 197 of file imarker_robot_state.cpp.

◆ setFromPoses()

bool moveit_visual_tools::IMarkerRobotState::setFromPoses	(	const EigenSTL::vector_Isometry3d &	poses,
		const moveit::core::JointModelGroup *	group
	)

Definition at line 338 of file imarker_robot_state.cpp.

◆ setIMarkerCallback()

void moveit_visual_tools::IMarkerRobotState::setIMarkerCallback ( const IMarkerCallback & callback )

Set where in the parent class the feedback should be sent.

Definition at line 206 of file imarker_robot_state.cpp.

◆ setRobotState()

void moveit_visual_tools::IMarkerRobotState::setRobotState ( const moveit::core::RobotStatePtr & state )

Set the robot state.

Definition at line 212 of file imarker_robot_state.cpp.

◆ setToCurrentState()

void moveit_visual_tools::IMarkerRobotState::setToCurrentState ( )

Set the robot state to current in planning scene monitor.

Definition at line 222 of file imarker_robot_state.cpp.

◆ setToRandomState()

bool moveit_visual_tools::IMarkerRobotState::setToRandomState ( double clearance = 0 )

Set the robot to a random position.

Parameters

clearance - optional value to ensure random state is not too close to obstacles. 0 is disable

Returns: true on success

Definition at line 236 of file imarker_robot_state.cpp.

Friends And Related Function Documentation

◆ IMarkerEndEffector

friend class IMarkerEndEffector

friend

Definition at line 114 of file imarker_robot_state.h.

Member Data Documentation

◆ arm_datas_

std::vector<ArmData> moveit_visual_tools::IMarkerRobotState::arm_datas_

protected

Definition at line 188 of file imarker_robot_state.h.

◆ color_

rviz_visual_tools::colors moveit_visual_tools::IMarkerRobotState::color_ = rviz_visual_tools::PURPLE

protected

Definition at line 200 of file imarker_robot_state.h.

◆ end_effectors_

std::vector<IMarkerEndEffectorPtr> moveit_visual_tools::IMarkerRobotState::end_effectors_

protected

Definition at line 189 of file imarker_robot_state.h.

◆ file_path_

std::string moveit_visual_tools::IMarkerRobotState::file_path_

protected

Definition at line 206 of file imarker_robot_state.h.

◆ imarker_server_

InteractiveMarkerServerPtr moveit_visual_tools::IMarkerRobotState::imarker_server_

protected

Definition at line 203 of file imarker_robot_state.h.

◆ imarker_state_

moveit::core::RobotStatePtr moveit_visual_tools::IMarkerRobotState::imarker_state_

protected

Definition at line 185 of file imarker_robot_state.h.

◆ name_

std::string moveit_visual_tools::IMarkerRobotState::name_

protected

Definition at line 179 of file imarker_robot_state.h.

◆ name_to_eef_

std::map<std::string, IMarkerEndEffectorPtr> moveit_visual_tools::IMarkerRobotState::name_to_eef_

protected

Definition at line 190 of file imarker_robot_state.h.

◆ nh_

ros::NodeHandle moveit_visual_tools::IMarkerRobotState::nh_

protected

Definition at line 182 of file imarker_robot_state.h.

◆ output_file_

std::ofstream moveit_visual_tools::IMarkerRobotState::output_file_

protected

Definition at line 207 of file imarker_robot_state.h.

◆ package_path_

std::string moveit_visual_tools::IMarkerRobotState::package_path_

protected

Definition at line 208 of file imarker_robot_state.h.

◆ psm_

planning_scene_monitor::PlanningSceneMonitorPtr moveit_visual_tools::IMarkerRobotState::psm_

protected

Definition at line 193 of file imarker_robot_state.h.

◆ refresh_rate_

std::size_t moveit_visual_tools::IMarkerRobotState::refresh_rate_ = 30

protected

Definition at line 199 of file imarker_robot_state.h.

◆ visual_tools_

moveit_visual_tools::MoveItVisualToolsPtr moveit_visual_tools::IMarkerRobotState::visual_tools_

protected

Definition at line 196 of file imarker_robot_state.h.

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

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ IMarkerRobotState()

◆ ~IMarkerRobotState()

Member Function Documentation

◆ getEEF()

◆ getFilePath()

◆ getRobotState()

◆ getRobotStateNonConst()

◆ getVisualTools()

◆ isStateValid()

◆ loadFromFile()

◆ publishRobotState()

◆ saveToFile()

◆ setFromPoses()

◆ setIMarkerCallback()

◆ setRobotState()

◆ setToCurrentState()

◆ setToRandomState()

Friends And Related Function Documentation

◆ IMarkerEndEffector

Member Data Documentation

◆ arm_datas_

◆ color_

◆ end_effectors_

◆ file_path_

◆ imarker_server_

◆ imarker_state_

◆ name_

◆ name_to_eef_

◆ nh_

◆ output_file_

◆ package_path_

◆ psm_

◆ refresh_rate_

◆ visual_tools_