moveit2
The MoveIt Motion Planning Framework for ROS 2.
Signals | Public Member Functions | Public Attributes | Protected Types | Protected Member Functions | Protected Attributes | List of all members
moveit_rviz_plugin::MotionPlanningDisplay Class Reference

#include <motion_planning_display.h>

Inheritance diagram for moveit_rviz_plugin::MotionPlanningDisplay:
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Signals

void queryStartStateChanged ()
 
void queryGoalStateChanged ()
 

Public Member Functions

 MotionPlanningDisplay ()
 
 ~MotionPlanningDisplay () override
 
void load (const rviz_common::Config &config) override
 
void save (rviz_common::Config config) const override
 
void update (float wall_dt, float ros_dt) override
 
void reset () override
 
moveit::core::RobotStateConstPtr getQueryStartState () const
 
moveit::core::RobotStateConstPtr getQueryGoalState () const
 
const moveit::core::RobotStategetPreviousState () const
 
const robot_interaction::RobotInteractionPtr & getRobotInteraction () const
 
const robot_interaction::InteractionHandlerPtr & getQueryStartStateHandler () const
 
const robot_interaction::InteractionHandlerPtr & getQueryGoalStateHandler () const
 
void dropVisualizedTrajectory ()
 
void setQueryStartState (const moveit::core::RobotState &start)
 
void setQueryGoalState (const moveit::core::RobotState &goal)
 
void updateQueryStates (const moveit::core::RobotState &current_state)
 
void updateQueryStartState ()
 
void updateQueryGoalState ()
 
void rememberPreviousStartState ()
 
void useApproximateIK (bool flag)
 
void clearPlaceLocationsDisplay ()
 
void visualizePlaceLocations (const std::vector< geometry_msgs::msg::PoseStamped > &place_poses)
 
std::string getCurrentPlanningGroup () const
 
void changePlanningGroup (const std::string &group)
 
void addStatusText (const std::string &text)
 
void addStatusText (const std::vector< std::string > &text)
 
void setStatusTextColor (const QColor &color)
 
void resetStatusTextColor ()
 
void toggleSelectPlanningGroupSubscription (bool enable)
 
- Public Member Functions inherited from moveit_rviz_plugin::PlanningSceneDisplay
 PlanningSceneDisplay (bool listen_to_planning_scene=true, bool show_scene_robot=true)
 
 ~PlanningSceneDisplay () override
 
void load (const rviz_common::Config &config) override
 
void save (rviz_common::Config config) const override
 
void update (float wall_dt, float ros_dt) override
 
void reset () override
 
void setLinkColor (const std::string &link_name, const QColor &color)
 
void unsetLinkColor (const std::string &link_name)
 
void queueRenderSceneGeometry ()
 
void addBackgroundJob (const std::function< void()> &job, const std::string &name)
 
void spawnBackgroundJob (const std::function< void()> &job)
 
void addMainLoopJob (const std::function< void()> &job)
 queue the execution of this function for the next time the main update() loop gets called More...
 
void waitForAllMainLoopJobs ()
 
void clearJobs ()
 remove all queued jobs More...
 
const std::string getMoveGroupNS () const
 
const moveit::core::RobotModelConstPtr & getRobotModel () const
 
bool waitForCurrentRobotState (const rclcpp::Time &t)
 wait for robot state more recent than t More...
 
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 planning_scene_monitor::PlanningSceneMonitorPtr & getPlanningSceneMonitor ()
 

Public Attributes

std::vector< std::shared_ptr< rviz_rendering::Shape > > place_locations_display_
 

Protected Types

enum  LinkDisplayStatus { COLLISION_LINK , OUTSIDE_BOUNDS_LINK }
 

Protected Member Functions

void clearRobotModel () override
 
void onRobotModelLoaded () override
 This is an event called by loadRobotModel() in the MainLoop; do not call directly. More...
 
void onNewPlanningSceneState () override
 This is called upon successful retrieval of the (initial) planning scene state. More...
 
void onSceneMonitorReceivedUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type) override
 
void updateInternal (float wall_dt, float ros_dt) override
 
void renderWorkspaceBox ()
 
void updateLinkColors ()
 
void displayTable (const std::map< std::string, double > &values, const Ogre::ColourValue &color, const Ogre::Vector3 &pos, const Ogre::Quaternion &orient)
 
void displayMetrics (bool start)
 
void executeMainLoopJobs ()
 
void publishInteractiveMarkers (bool pose_update)
 
void recomputeQueryStartStateMetrics ()
 
void recomputeQueryGoalStateMetrics ()
 
void drawQueryStartState ()
 
void drawQueryGoalState ()
 
void scheduleDrawQueryStartState (robot_interaction::InteractionHandler *handler, bool error_state_changed)
 
void scheduleDrawQueryGoalState (robot_interaction::InteractionHandler *handler, bool error_state_changed)
 
bool isIKSolutionCollisionFree (moveit::core::RobotState *state, const moveit::core::JointModelGroup *group, const double *ik_solution) const
 
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 updateStateExceptModified (moveit::core::RobotState &dest, const moveit::core::RobotState &src)
 
void updateBackgroundJobProgressBar ()
 
void backgroundJobUpdate (moveit::tools::BackgroundProcessing::JobEvent event, const std::string &jobname)
 
void setQueryStateHelper (bool use_start_state, const std::string &v)
 
void populateMenuHandler (std::shared_ptr< interactive_markers::MenuHandler > &mh)
 
void selectPlanningGroupCallback (const std_msgs::msg::String::ConstSharedPtr &msg)
 
void onInitialize () override
 
void onEnable () override
 
void onDisable () override
 
void fixedFrameChanged () override
 
- Protected Member Functions inherited from moveit_rviz_plugin::PlanningSceneDisplay
void loadRobotModel ()
 
virtual planning_scene_monitor::PlanningSceneMonitorPtr createPlanningSceneMonitor ()
 
void calculateOffsetPosition ()
 Set the scene node's position, given the target frame and the planning frame. More...
 
void executeMainLoopJobs ()
 
void sceneMonitorReceivedUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
 
void renderPlanningScene ()
 
void setLinkColor (rviz_default_plugins::robot::Robot *robot, const std::string &link_name, const QColor &color)
 
void unsetLinkColor (rviz_default_plugins::robot::Robot *robot, const std::string &link_name)
 
void setGroupColor (rviz_default_plugins::robot::Robot *robot, const std::string &group_name, const QColor &color)
 
void unsetGroupColor (rviz_default_plugins::robot::Robot *robot, const std::string &group_name)
 
void unsetAllColors (rviz_default_plugins::robot::Robot *robot)
 
void onInitialize () override
 
void onEnable () override
 
void onDisable () override
 
void fixedFrameChanged () override
 

Protected Attributes

RobotStateVisualizationPtr query_robot_start_
 Handles drawing the robot at the start configuration. More...
 
RobotStateVisualizationPtr query_robot_goal_
 Handles drawing the robot at the goal configuration. More...
 
Ogre::SceneNode * text_display_scene_node_
 displays texts More...
 
bool text_display_for_start_
 indicates whether the text display is for the start state or not More...
 
rviz_rendering::MovableText * text_to_display_
 
rclcpp::Subscription< std_msgs::msg::String >::SharedPtr planning_group_sub_
 
std::unique_ptr< rviz_rendering::Shape > workspace_box_
 
MotionPlanningFrameframe_
 
rviz_common::PanelDockWidget * frame_dock_
 
robot_interaction::RobotInteractionPtr robot_interaction_
 
robot_interaction::InteractionHandlerPtr query_start_state_
 
robot_interaction::InteractionHandlerPtr query_goal_state_
 
std::shared_ptr< interactive_markers::MenuHandler > menu_handler_start_
 
std::shared_ptr< interactive_markers::MenuHandler > menu_handler_goal_
 
std::map< std::string, LinkDisplayStatusstatus_links_start_
 
std::map< std::string, LinkDisplayStatusstatus_links_goal_
 
moveit::core::RobotStatePtr previous_state_
 remember previous start state (updated before starting execution) More...
 
std::set< std::string > modified_groups_
 
std::map< std::pair< bool, std::string >, std::map< std::string, double > > computed_metrics_
 
std::map< std::string, bool > position_only_ik_
 Some groups use position only ik, calls to the metrics have to be modified appropriately. More...
 
kinematics_metrics::KinematicsMetricsPtr kinematics_metrics_
 
std::map< std::string, dynamics_solver::DynamicsSolverPtr > dynamics_solver_
 
std::mutex update_metrics_lock_
 
TrajectoryVisualizationPtr trajectory_visual_
 
rviz_common::properties::Property * path_category_
 
rviz_common::properties::Property * plan_category_
 
rviz_common::properties::Property * metrics_category_
 
rviz_common::properties::EditableEnumProperty * planning_group_property_
 
rviz_common::properties::BoolProperty * query_start_state_property_
 
rviz_common::properties::BoolProperty * query_goal_state_property_
 
rviz_common::properties::FloatProperty * query_marker_scale_property_
 
rviz_common::properties::ColorProperty * query_start_color_property_
 
rviz_common::properties::ColorProperty * query_goal_color_property_
 
rviz_common::properties::FloatProperty * query_start_alpha_property_
 
rviz_common::properties::FloatProperty * query_goal_alpha_property_
 
rviz_common::properties::ColorProperty * query_colliding_link_color_property_
 
rviz_common::properties::ColorProperty * query_outside_joint_limits_link_color_property_
 
rviz_common::properties::BoolProperty * compute_weight_limit_property_
 
rviz_common::properties::BoolProperty * show_manipulability_index_property_
 
rviz_common::properties::BoolProperty * show_manipulability_property_
 
rviz_common::properties::BoolProperty * show_joint_torques_property_
 
rviz_common::properties::FloatProperty * metrics_set_payload_property_
 
rviz_common::properties::FloatProperty * metrics_text_height_property_
 
rviz_common::properties::BoolProperty * show_workspace_property_
 
rviz_common::Display * int_marker_display_
 
- Protected Attributes inherited from moveit_rviz_plugin::PlanningSceneDisplay
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_
 
std::mutex robot_model_loading_lock_
 
moveit::tools::BackgroundProcessing background_process_
 
std::deque< std::function< void()> > main_loop_jobs_
 
std::mutex main_loop_jobs_lock_
 
std::condition_variable main_loop_jobs_empty_condition_
 
Ogre::SceneNode * planning_scene_node_
 displays planning scene with everything in it More...
 
RobotStateVisualizationPtr planning_scene_robot_
 
PlanningSceneRenderPtr planning_scene_render_
 
bool planning_scene_needs_render_
 
bool robot_state_needs_render_
 
float current_scene_time_
 
rviz_common::properties::Property * scene_category_
 
rviz_common::properties::Property * robot_category_
 
rviz_common::properties::StringProperty * move_group_ns_property_
 
rviz_common::properties::StringProperty * robot_description_property_
 
rviz_common::properties::StringProperty * scene_name_property_
 
rviz_common::properties::BoolProperty * scene_enabled_property_
 
rviz_common::properties::BoolProperty * scene_robot_visual_enabled_property_
 
rviz_common::properties::BoolProperty * scene_robot_collision_enabled_property_
 
rviz_common::properties::RosTopicProperty * planning_scene_topic_property_
 
rviz_common::properties::FloatProperty * robot_alpha_property_
 
rviz_common::properties::FloatProperty * scene_alpha_property_
 
rviz_common::properties::ColorProperty * scene_color_property_
 
rviz_common::properties::ColorProperty * attached_body_color_property_
 
rviz_common::properties::FloatProperty * scene_display_time_property_
 
rviz_common::properties::EnumProperty * octree_render_property_
 
rviz_common::properties::EnumProperty * octree_coloring_property_
 
rclcpp::Node::SharedPtr node_
 

Additional Inherited Members

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

Detailed Description

Definition at line 97 of file motion_planning_display.h.

Member Enumeration Documentation

◆ LinkDisplayStatus

Enumerator
COLLISION_LINK 
OUTSIDE_BOUNDS_LINK 

Definition at line 206 of file motion_planning_display.h.

Constructor & Destructor Documentation

◆ MotionPlanningDisplay()

moveit_rviz_plugin::MotionPlanningDisplay::MotionPlanningDisplay ( )

Definition at line 84 of file motion_planning_display.cpp.

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◆ ~MotionPlanningDisplay()

moveit_rviz_plugin::MotionPlanningDisplay::~MotionPlanningDisplay ( )
override

Definition at line 193 of file motion_planning_display.cpp.

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Member Function Documentation

◆ addStatusText() [1/2]

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

Definition at line 684 of file motion_planning_display.cpp.

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◆ addStatusText() [2/2]

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

Definition at line 690 of file motion_planning_display.cpp.

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◆ backgroundJobUpdate()

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

Definition at line 324 of file motion_planning_display.cpp.

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◆ changePlanningGroup()

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

Definition at line 1007 of file motion_planning_display.cpp.

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◆ clearPlaceLocationsDisplay()

void moveit_rviz_plugin::MotionPlanningDisplay::clearPlaceLocationsDisplay ( )

Definition at line 1432 of file motion_planning_display.cpp.

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◆ 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 1121 of file motion_planning_display.cpp.

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◆ computeMetrics()

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

Definition at line 478 of file motion_planning_display.cpp.

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◆ 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 493 of file motion_planning_display.cpp.

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◆ displayMetrics()

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

Definition at line 553 of file motion_planning_display.cpp.

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◆ 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 432 of file motion_planning_display.cpp.

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◆ drawQueryGoalState()

void moveit_rviz_plugin::MotionPlanningDisplay::drawQueryGoalState ( )
protected

Definition at line 730 of file motion_planning_display.cpp.

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◆ drawQueryStartState()

void moveit_rviz_plugin::MotionPlanningDisplay::drawQueryStartState ( )
protected

Definition at line 610 of file motion_planning_display.cpp.

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◆ dropVisualizedTrajectory()

void moveit_rviz_plugin::MotionPlanningDisplay::dropVisualizedTrajectory ( )
inline

Definition at line 142 of file motion_planning_display.h.

◆ executeMainLoopJobs()

void moveit_rviz_plugin::MotionPlanningDisplay::executeMainLoopJobs ( )
protected

◆ fixedFrameChanged()

void moveit_rviz_plugin::MotionPlanningDisplay::fixedFrameChanged ( )
overrideprotected

Definition at line 1419 of file motion_planning_display.cpp.

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◆ getCurrentPlanningGroup()

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

Definition at line 1049 of file motion_planning_display.cpp.

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◆ getPreviousState()

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

Definition at line 122 of file motion_planning_display.h.

◆ getQueryGoalState()

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

Definition at line 117 of file motion_planning_display.h.

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◆ getQueryGoalStateHandler()

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

Definition at line 137 of file motion_planning_display.h.

◆ getQueryStartState()

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

Definition at line 112 of file motion_planning_display.h.

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◆ getQueryStartStateHandler()

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

Definition at line 132 of file motion_planning_display.h.

◆ getRobotInteraction()

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

Definition at line 127 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 964 of file motion_planning_display.cpp.

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◆ load()

void moveit_rviz_plugin::MotionPlanningDisplay::load ( const rviz_common::Config &  config)
override

Definition at line 1326 of file motion_planning_display.cpp.

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◆ onDisable()

void moveit_rviz_plugin::MotionPlanningDisplay::onDisable ( )
overrideprotected

Definition at line 1285 of file motion_planning_display.cpp.

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◆ onEnable()

void moveit_rviz_plugin::MotionPlanningDisplay::onEnable ( )
overrideprotected

Definition at line 1264 of file motion_planning_display.cpp.

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◆ onInitialize()

void moveit_rviz_plugin::MotionPlanningDisplay::onInitialize ( )
overrideprotected

Definition at line 206 of file motion_planning_display.cpp.

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◆ 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 1209 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 1138 of file motion_planning_display.cpp.

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◆ onSceneMonitorReceivedUpdate()

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

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1252 of file motion_planning_display.cpp.

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◆ populateMenuHandler()

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

Definition at line 1089 of file motion_planning_display.cpp.

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◆ publishInteractiveMarkers()

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

Definition at line 802 of file motion_planning_display.cpp.

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◆ queryGoalStateChanged

void moveit_rviz_plugin::MotionPlanningDisplay::queryGoalStateChanged ( )
signal
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◆ queryStartStateChanged

void moveit_rviz_plugin::MotionPlanningDisplay::queryStartStateChanged ( )
signal
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◆ recomputeQueryGoalStateMetrics()

void moveit_rviz_plugin::MotionPlanningDisplay::recomputeQueryGoalStateMetrics ( )
protected

Definition at line 703 of file motion_planning_display.cpp.

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◆ recomputeQueryStartStateMetrics()

void moveit_rviz_plugin::MotionPlanningDisplay::recomputeQueryStartStateMetrics ( )
protected

Definition at line 696 of file motion_planning_display.cpp.

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◆ rememberPreviousStartState()

void moveit_rviz_plugin::MotionPlanningDisplay::rememberPreviousStartState ( )

Definition at line 935 of file motion_planning_display.cpp.

◆ renderWorkspaceBox()

void moveit_rviz_plugin::MotionPlanningDisplay::renderWorkspaceBox ( )
protected

Definition at line 455 of file motion_planning_display.cpp.

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◆ reset()

void moveit_rviz_plugin::MotionPlanningDisplay::reset ( )
override

Definition at line 302 of file motion_planning_display.cpp.

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◆ resetStatusTextColor()

void moveit_rviz_plugin::MotionPlanningDisplay::resetStatusTextColor ( )

Definition at line 673 of file motion_planning_display.cpp.

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◆ save()

void moveit_rviz_plugin::MotionPlanningDisplay::save ( rviz_common::Config  config) const
override

Definition at line 1389 of file motion_planning_display.cpp.

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◆ scheduleDrawQueryGoalState()

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

Definition at line 909 of file motion_planning_display.cpp.

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◆ scheduleDrawQueryStartState()

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

Definition at line 899 of file motion_planning_display.cpp.

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◆ selectPlanningGroupCallback()

void moveit_rviz_plugin::MotionPlanningDisplay::selectPlanningGroupCallback ( const std_msgs::msg::String::ConstSharedPtr &  msg)
protected

Definition at line 296 of file motion_planning_display.cpp.

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◆ setQueryGoalState()

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

Definition at line 946 of file motion_planning_display.cpp.

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◆ setQueryStartState()

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

Definition at line 940 of file motion_planning_display.cpp.

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◆ setQueryStateHelper()

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

Definition at line 1054 of file motion_planning_display.cpp.

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◆ setStatusTextColor()

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

Definition at line 678 of file motion_planning_display.cpp.

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◆ toggleSelectPlanningGroupSubscription()

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

Definition at line 282 of file motion_planning_display.cpp.

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◆ update()

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

Definition at line 1306 of file motion_planning_display.cpp.

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◆ updateBackgroundJobProgressBar()

void moveit_rviz_plugin::MotionPlanningDisplay::updateBackgroundJobProgressBar ( )
protected

Definition at line 330 of file motion_planning_display.cpp.

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◆ updateInternal()

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

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1316 of file motion_planning_display.cpp.

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◆ updateLinkColors()

void moveit_rviz_plugin::MotionPlanningDisplay::updateLinkColors ( )
protected

Definition at line 979 of file motion_planning_display.cpp.

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◆ updateQueryGoalState()

void moveit_rviz_plugin::MotionPlanningDisplay::updateQueryGoalState ( )

Definition at line 927 of file motion_planning_display.cpp.

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◆ updateQueryStartState()

void moveit_rviz_plugin::MotionPlanningDisplay::updateQueryStartState ( )

Definition at line 919 of file motion_planning_display.cpp.

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◆ updateQueryStates()

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

Definition at line 1233 of file motion_planning_display.cpp.

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◆ updateStateExceptModified()

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

Definition at line 1214 of file motion_planning_display.cpp.

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◆ useApproximateIK()

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

Definition at line 952 of file motion_planning_display.cpp.

◆ visualizePlaceLocations()

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

Definition at line 1439 of file motion_planning_display.cpp.

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Member Data Documentation

◆ compute_weight_limit_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::compute_weight_limit_property_
protected

Definition at line 318 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 290 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 296 of file motion_planning_display.h.

◆ frame_

MotionPlanningFrame* moveit_rviz_plugin::MotionPlanningDisplay::frame_
protected

Definition at line 270 of file motion_planning_display.h.

◆ frame_dock_

rviz_common::PanelDockWidget* moveit_rviz_plugin::MotionPlanningDisplay::frame_dock_
protected

Definition at line 271 of file motion_planning_display.h.

◆ int_marker_display_

rviz_common::Display* moveit_rviz_plugin::MotionPlanningDisplay::int_marker_display_
protected

Definition at line 326 of file motion_planning_display.h.

◆ kinematics_metrics_

kinematics_metrics::KinematicsMetricsPtr moveit_rviz_plugin::MotionPlanningDisplay::kinematics_metrics_
protected

Definition at line 295 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 278 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 277 of file motion_planning_display.h.

◆ metrics_category_

rviz_common::properties::Property* moveit_rviz_plugin::MotionPlanningDisplay::metrics_category_
protected

Definition at line 305 of file motion_planning_display.h.

◆ metrics_set_payload_property_

rviz_common::properties::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::metrics_set_payload_property_
protected

Definition at line 322 of file motion_planning_display.h.

◆ metrics_text_height_property_

rviz_common::properties::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::metrics_text_height_property_
protected

Definition at line 323 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 286 of file motion_planning_display.h.

◆ path_category_

rviz_common::properties::Property* moveit_rviz_plugin::MotionPlanningDisplay::path_category_
protected

Definition at line 303 of file motion_planning_display.h.

◆ place_locations_display_

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

Definition at line 160 of file motion_planning_display.h.

◆ plan_category_

rviz_common::properties::Property* moveit_rviz_plugin::MotionPlanningDisplay::plan_category_
protected

Definition at line 304 of file motion_planning_display.h.

◆ planning_group_property_

rviz_common::properties::EditableEnumProperty* moveit_rviz_plugin::MotionPlanningDisplay::planning_group_property_
protected

Definition at line 307 of file motion_planning_display.h.

◆ planning_group_sub_

rclcpp::Subscription<std_msgs::msg::String>::SharedPtr moveit_rviz_plugin::MotionPlanningDisplay::planning_group_sub_
protected

Definition at line 264 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 292 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 282 of file motion_planning_display.h.

◆ query_colliding_link_color_property_

rviz_common::properties::ColorProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_colliding_link_color_property_
protected

Definition at line 315 of file motion_planning_display.h.

◆ query_goal_alpha_property_

rviz_common::properties::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_goal_alpha_property_
protected

Definition at line 314 of file motion_planning_display.h.

◆ query_goal_color_property_

rviz_common::properties::ColorProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_goal_color_property_
protected

Definition at line 312 of file motion_planning_display.h.

◆ query_goal_state_

robot_interaction::InteractionHandlerPtr moveit_rviz_plugin::MotionPlanningDisplay::query_goal_state_
protected

Definition at line 276 of file motion_planning_display.h.

◆ query_goal_state_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_goal_state_property_
protected

Definition at line 309 of file motion_planning_display.h.

◆ query_marker_scale_property_

rviz_common::properties::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_marker_scale_property_
protected

Definition at line 310 of file motion_planning_display.h.

◆ query_outside_joint_limits_link_color_property_

rviz_common::properties::ColorProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_outside_joint_limits_link_color_property_
protected

Definition at line 316 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 258 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 257 of file motion_planning_display.h.

◆ query_start_alpha_property_

rviz_common::properties::FloatProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_start_alpha_property_
protected

Definition at line 313 of file motion_planning_display.h.

◆ query_start_color_property_

rviz_common::properties::ColorProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_start_color_property_
protected

Definition at line 311 of file motion_planning_display.h.

◆ query_start_state_

robot_interaction::InteractionHandlerPtr moveit_rviz_plugin::MotionPlanningDisplay::query_start_state_
protected

Definition at line 275 of file motion_planning_display.h.

◆ query_start_state_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::query_start_state_property_
protected

Definition at line 308 of file motion_planning_display.h.

◆ robot_interaction_

robot_interaction::RobotInteractionPtr moveit_rviz_plugin::MotionPlanningDisplay::robot_interaction_
protected

Definition at line 274 of file motion_planning_display.h.

◆ show_joint_torques_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::show_joint_torques_property_
protected

Definition at line 321 of file motion_planning_display.h.

◆ show_manipulability_index_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::show_manipulability_index_property_
protected

Definition at line 319 of file motion_planning_display.h.

◆ show_manipulability_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::show_manipulability_property_
protected

Definition at line 320 of file motion_planning_display.h.

◆ show_workspace_property_

rviz_common::properties::BoolProperty* moveit_rviz_plugin::MotionPlanningDisplay::show_workspace_property_
protected

Definition at line 324 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 280 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 279 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 261 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 260 of file motion_planning_display.h.

◆ text_to_display_

rviz_rendering::MovableText* moveit_rviz_plugin::MotionPlanningDisplay::text_to_display_
protected

Definition at line 262 of file motion_planning_display.h.

◆ trajectory_visual_

TrajectoryVisualizationPtr moveit_rviz_plugin::MotionPlanningDisplay::trajectory_visual_
protected

Definition at line 300 of file motion_planning_display.h.

◆ update_metrics_lock_

std::mutex moveit_rviz_plugin::MotionPlanningDisplay::update_metrics_lock_
protected

Definition at line 297 of file motion_planning_display.h.

◆ workspace_box_

std::unique_ptr<rviz_rendering::Shape> moveit_rviz_plugin::MotionPlanningDisplay::workspace_box_
protected

Definition at line 267 of file motion_planning_display.h.


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