#include <environment_monitor_interface.h>

Public Types
using	ConstPtr = std::shared_ptr< const EnvironmentMonitorInterface >

using	ConstUPtr = std::unique_ptr< const EnvironmentMonitorInterface >

using	Ptr = std::shared_ptr< EnvironmentMonitorInterface >

using	UPtr = std::unique_ptr< EnvironmentMonitorInterface >

Public Member Functions
virtual void	addNamespace (std::string monitor_namespace)=0
	Add monitor namespace to interface. More...

virtual std::vector< std::string >	applyCommand (const Command &command) const =0
	Apply provided command to all monitor namespaces. More...

virtual bool	applyCommand (const std::string &monitor_namespace, const Command &command) const =0
	Apply provided command to only the provided namespace. The namespace does not have to be one that is currently stored in this class. More...

virtual bool	applyCommands (const std::string &monitor_namespace, const std::vector< Command > &commands) const =0

virtual bool	applyCommands (const std::string &monitor_namespace, const std::vector< std::shared_ptr< const Command >> &commands) const =0

virtual std::vector< std::string >	applyCommands (const std::vector< Command > &commands) const =0

virtual std::vector< std::string >	applyCommands (const std::vector< std::shared_ptr< const Command >> &commands) const =0

	EnvironmentMonitorInterface (const EnvironmentMonitorInterface &)=default

	EnvironmentMonitorInterface (EnvironmentMonitorInterface &&)=default

	EnvironmentMonitorInterface (std::string env_name)

virtual std::unique_ptr< Environment >	getEnvironment (const std::string &monitor_namespace) const =0
	Pull information from the environment in the provided namespace and create a Environment Object. More...

virtual tesseract_scene_graph::SceneState	getEnvironmentState (const std::string &monitor_namespace) const =0
	Pull current environment state from the environment in the provided namespace. More...

EnvironmentMonitorInterface &	operator= (const EnvironmentMonitorInterface &)=default

EnvironmentMonitorInterface &	operator= (EnvironmentMonitorInterface &&)=default

virtual void	removeNamespace (const std::string &monitor_namespace)=0
	Remove monitor namespace from interface. More...

virtual bool	setEnvironmentState (const std::string &monitor_namespace, const std::unordered_map< std::string, double > &joints, const tesseract_common::TransformMap &floating_joints={}) const =0
	Set environments state in the provided namespace. More...

virtual bool	setEnvironmentState (const std::string &monitor_namespace, const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joints={}) const =0

virtual bool	setEnvironmentState (const std::string &monitor_namespace, const std::vector< std::string > &joint_names, const std::vector< double > &joint_values, const tesseract_common::TransformMap &floating_joints={}) const =0

virtual bool	setEnvironmentState (const std::string &monitor_namespace, const tesseract_common::TransformMap &floating_joints) const =0

virtual std::vector< std::string >	setEnvironmentState (const std::unordered_map< std::string, double > &joints, const tesseract_common::TransformMap &floating_joints={}) const =0
	Set environment state for all monitor namespaces. More...

virtual std::vector< std::string >	setEnvironmentState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joints={}) const =0

virtual std::vector< std::string >	setEnvironmentState (const std::vector< std::string > &joint_names, const std::vector< double > &joint_values, const tesseract_common::TransformMap &floating_joints={}) const =0

virtual std::vector< std::string >	setEnvironmentState (const tesseract_common::TransformMap &floating_joints={}) const =0

virtual bool	wait (std::chrono::duration< double > duration=std::chrono::seconds(0)) const =0
	This will wait for all namespaces to begin publishing. More...

virtual bool	waitForNamespace (const std::string &monitor_namespace, std::chrono::duration< double > duration=std::chrono::seconds(0)) const =0
	This will wait for a given namespace to begin publishing. More...

virtual	~EnvironmentMonitorInterface ()=default

Protected Attributes
std::string	env_name_

Detailed Description

Definition at line 45 of file environment_monitor_interface.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_environment::EnvironmentMonitorInterface::ConstPtr = std::shared_ptr<const EnvironmentMonitorInterface>

Definition at line 49 of file environment_monitor_interface.h.

◆ ConstUPtr

using tesseract_environment::EnvironmentMonitorInterface::ConstUPtr = std::unique_ptr<const EnvironmentMonitorInterface>

Definition at line 51 of file environment_monitor_interface.h.

◆ Ptr

using tesseract_environment::EnvironmentMonitorInterface::Ptr = std::shared_ptr<EnvironmentMonitorInterface>

Definition at line 48 of file environment_monitor_interface.h.

◆ UPtr

using tesseract_environment::EnvironmentMonitorInterface::UPtr = std::unique_ptr<EnvironmentMonitorInterface>

Definition at line 50 of file environment_monitor_interface.h.

Constructor & Destructor Documentation

◆ EnvironmentMonitorInterface() [1/3]

tesseract_environment::EnvironmentMonitorInterface::EnvironmentMonitorInterface ( std::string env_name )

explicit

Definition at line 30 of file environment_monitor_interface.cpp.

◆ ~EnvironmentMonitorInterface()

virtual tesseract_environment::EnvironmentMonitorInterface::~EnvironmentMonitorInterface ( )

virtualdefault

◆ EnvironmentMonitorInterface() [2/3]

tesseract_environment::EnvironmentMonitorInterface::EnvironmentMonitorInterface ( const EnvironmentMonitorInterface & )

default

◆ EnvironmentMonitorInterface() [3/3]

tesseract_environment::EnvironmentMonitorInterface::EnvironmentMonitorInterface ( EnvironmentMonitorInterface && )

default

Member Function Documentation

◆ addNamespace()

virtual void tesseract_environment::EnvironmentMonitorInterface::addNamespace ( std::string monitor_namespace )

pure virtual

Add monitor namespace to interface.

Parameters

monitor_namespace

◆ applyCommand() [1/2]

virtual std::vector<std::string> tesseract_environment::EnvironmentMonitorInterface::applyCommand ( const Command & command ) const

pure virtual

Apply provided command to all monitor namespaces.

Parameters

command The command to apply

Returns: A vector of failed namespace, if empty all namespace were updated successfully.

◆ applyCommand() [2/2]

virtual bool tesseract_environment::EnvironmentMonitorInterface::applyCommand	(	const std::string &	monitor_namespace,
		const Command &	command
	)		const

pure virtual

Apply provided command to only the provided namespace. The namespace does not have to be one that is currently stored in this class.

Parameters

command The command to apply

Returns: True if successful, otherwise false

◆ applyCommands() [1/4]

virtual bool tesseract_environment::EnvironmentMonitorInterface::applyCommands	(	const std::string &	monitor_namespace,
		const std::vector< Command > &	commands
	)		const

pure virtual

◆ applyCommands() [2/4]

virtual bool tesseract_environment::EnvironmentMonitorInterface::applyCommands	(	const std::string &	monitor_namespace,
		const std::vector< std::shared_ptr< const Command >> &	commands
	)		const

pure virtual

◆ applyCommands() [3/4]

virtual std::vector<std::string> tesseract_environment::EnvironmentMonitorInterface::applyCommands ( const std::vector< Command > & commands ) const

pure virtual

◆ applyCommands() [4/4]

virtual std::vector<std::string> tesseract_environment::EnvironmentMonitorInterface::applyCommands ( const std::vector< std::shared_ptr< const Command >> & commands ) const

pure virtual

◆ getEnvironment()

virtual std::unique_ptr<Environment> tesseract_environment::EnvironmentMonitorInterface::getEnvironment ( const std::string & monitor_namespace ) const

pure virtual

Pull information from the environment in the provided namespace and create a Environment Object.

Parameters

monitor_namespace The namespace to extract the environment from.

Returns: Environment Shared Pointer, if nullptr it failed

◆ getEnvironmentState()

virtual tesseract_scene_graph::SceneState tesseract_environment::EnvironmentMonitorInterface::getEnvironmentState ( const std::string & monitor_namespace ) const

pure virtual

Pull current environment state from the environment in the provided namespace.

Parameters

monitor_namespace The namespace to extract the environment from.

Returns: Environment Shared Pointer, if nullptr it failed

◆ operator=() [1/2]

EnvironmentMonitorInterface& tesseract_environment::EnvironmentMonitorInterface::operator= ( const EnvironmentMonitorInterface & )

default

◆ operator=() [2/2]

EnvironmentMonitorInterface& tesseract_environment::EnvironmentMonitorInterface::operator= ( EnvironmentMonitorInterface && )

default

◆ removeNamespace()

virtual void tesseract_environment::EnvironmentMonitorInterface::removeNamespace ( const std::string & monitor_namespace )

pure virtual

Remove monitor namespace from interface.

Parameters

monitor_namespace

◆ setEnvironmentState() [1/8]

virtual bool tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::string &	monitor_namespace,
		const std::unordered_map< std::string, double > &	joints,
		const tesseract_common::TransformMap &	floating_joints = `{}`
	)		const

pure virtual

Set environments state in the provided namespace.

Parameters

monitor_namespace The monitored namespace to set the state

Returns: True if successful, otherwise false

◆ setEnvironmentState() [2/8]

virtual bool tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::string &	monitor_namespace,
		const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joints = `{}`
	)		const

pure virtual

◆ setEnvironmentState() [3/8]

virtual bool tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::string &	monitor_namespace,
		const std::vector< std::string > &	joint_names,
		const std::vector< double > &	joint_values,
		const tesseract_common::TransformMap &	floating_joints = `{}`
	)		const

pure virtual

◆ setEnvironmentState() [4/8]

virtual bool tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::string &	monitor_namespace,
		const tesseract_common::TransformMap &	floating_joints
	)		const

pure virtual

◆ setEnvironmentState() [5/8]

virtual std::vector<std::string> tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::unordered_map< std::string, double > &	joints,
		const tesseract_common::TransformMap &	floating_joints = `{}`
	)		const

pure virtual

Set environment state for all monitor namespaces.

Returns: A vector of failed namespace, if empty all namespace were updated successfully.

◆ setEnvironmentState() [6/8]

virtual std::vector<std::string> tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joints = `{}`
	)		const

pure virtual

◆ setEnvironmentState() [7/8]

virtual std::vector<std::string> tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::vector< std::string > &	joint_names,
		const std::vector< double > &	joint_values,
		const tesseract_common::TransformMap &	floating_joints = `{}`
	)		const

pure virtual

◆ setEnvironmentState() [8/8]

virtual std::vector<std::string> tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState ( const tesseract_common::TransformMap & floating_joints = {} ) const

pure virtual

◆ wait()

virtual bool tesseract_environment::EnvironmentMonitorInterface::wait ( std::chrono::duration< double > duration = std::chrono::seconds(0) ) const

pure virtual

This will wait for all namespaces to begin publishing.

Parameters

duration The number of seconds to wait before returning, if zero it waits indefinitely

Returns: True if namespace is available, otherwise false

◆ waitForNamespace()

virtual bool tesseract_environment::EnvironmentMonitorInterface::waitForNamespace	(	const std::string &	monitor_namespace,
		std::chrono::duration< double >	duration = `std::chrono::seconds(0)`
	)		const

pure virtual

This will wait for a given namespace to begin publishing.

Parameters

monitor_namespace	The namespace to wait for
duration	The number of seconds to wait before returning, if zero it waits indefinitely

Returns: True if namespace is available, otherwise false

Member Data Documentation

◆ env_name_

std::string tesseract_environment::EnvironmentMonitorInterface::env_name_

protected

Definition at line 160 of file environment_monitor_interface.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ EnvironmentMonitorInterface() [1/3]

◆ ~EnvironmentMonitorInterface()

◆ EnvironmentMonitorInterface() [2/3]

◆ EnvironmentMonitorInterface() [3/3]

Member Function Documentation

◆ addNamespace()

◆ applyCommand() [1/2]

◆ applyCommand() [2/2]

◆ applyCommands() [1/4]

◆ applyCommands() [2/4]

◆ applyCommands() [3/4]

◆ applyCommands() [4/4]

◆ getEnvironment()

◆ getEnvironmentState()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ removeNamespace()

◆ setEnvironmentState() [1/8]

◆ setEnvironmentState() [2/8]

◆ setEnvironmentState() [3/8]

◆ setEnvironmentState() [4/8]

◆ setEnvironmentState() [5/8]

◆ setEnvironmentState() [6/8]

◆ setEnvironmentState() [7/8]

◆ setEnvironmentState() [8/8]

◆ wait()

◆ waitForNamespace()

Member Data Documentation

◆ env_name_