planning_scene_monitor::TrajectoryMonitor Class Reference

Monitors the joint_states topic and tf to record the trajectory of the robot. More...

#include <trajectory_monitor.h>

Classes
class	MiddlewareHandle
	This class contains the rcl interfaces for easier testing. More...

Public Member Functions
	TrajectoryMonitor (const CurrentStateMonitorConstPtr &state_monitor, double sampling_frequency=0.0)
	Constructor. More...
	TrajectoryMonitor (const CurrentStateMonitorConstPtr &state_monitor, std::unique_ptr< MiddlewareHandle > middleware_handle, double sampling_frequency=0.0)
	Constructor with middleware handle as input parameter. More...
	~TrajectoryMonitor ()
void	startTrajectoryMonitor ()
void	stopTrajectoryMonitor ()
void	clearTrajectory ()
bool	isActive () const
double	getSamplingFrequency () const
void	setSamplingFrequency (double sampling_frequency)
const robot_trajectory::RobotTrajectory &	getTrajectory ()
void	swapTrajectory (robot_trajectory::RobotTrajectory &other)
void	setOnStateAddCallback (const TrajectoryStateAddedCallback &callback)

Detailed Description

Monitors the joint_states topic and tf to record the trajectory of the robot.

Definition at line 56 of file trajectory_monitor.h.

Constructor & Destructor Documentation

TrajectoryMonitor() [1/2]

planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor	(	const CurrentStateMonitorConstPtr &	state_monitor,
		double	sampling_frequency = 0.0
	)

Constructor.

Parameters

[in]	state_monitor
[in]	sampling_frequency

Definition at line 45 of file trajectory_monitor.cpp.

TrajectoryMonitor() [2/2]

planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor	(	const CurrentStateMonitorConstPtr &	state_monitor,
		std::unique_ptr< MiddlewareHandle >	middleware_handle,
		double	sampling_frequency = 0.0
	)

Constructor with middleware handle as input parameter.

Parameters

[in]	state_monitor
[in]	sampling_frequency

~TrajectoryMonitor()

planning_scene_monitor::TrajectoryMonitor::~TrajectoryMonitor

(

)

Definition at line 63 of file trajectory_monitor.cpp.

Member Function Documentation

clearTrajectory()

void planning_scene_monitor::TrajectoryMonitor::clearTrajectory

(

)

Definition at line 105 of file trajectory_monitor.cpp.

getSamplingFrequency()

double planning_scene_monitor::TrajectoryMonitor::getSamplingFrequency ( ) const

inline

Definition at line 104 of file trajectory_monitor.h.

getTrajectory()

const robot_trajectory::RobotTrajectory& planning_scene_monitor::TrajectoryMonitor::getTrajectory ( )

inline

Return the current maintained trajectory. This function is not thread safe (hence NOT const), because the trajectory could be modified.

Definition at line 113 of file trajectory_monitor.h.

isActive()

bool planning_scene_monitor::TrajectoryMonitor::isActive

(

)

const

Definition at line 80 of file trajectory_monitor.cpp.

setOnStateAddCallback()

void planning_scene_monitor::TrajectoryMonitor::setOnStateAddCallback ( const TrajectoryStateAddedCallback &  callback )

inline

Definition at line 123 of file trajectory_monitor.h.

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setSamplingFrequency()

void planning_scene_monitor::TrajectoryMonitor::setSamplingFrequency

(

double

sampling_frequency

)

Definition at line 68 of file trajectory_monitor.cpp.

startTrajectoryMonitor()

void planning_scene_monitor::TrajectoryMonitor::startTrajectoryMonitor

(

)

Definition at line 85 of file trajectory_monitor.cpp.

stopTrajectoryMonitor()

void planning_scene_monitor::TrajectoryMonitor::stopTrajectoryMonitor

(

)

Definition at line 94 of file trajectory_monitor.cpp.

swapTrajectory()

void planning_scene_monitor::TrajectoryMonitor::swapTrajectory ( robot_trajectory::RobotTrajectory &  other )

inline

Definition at line 118 of file trajectory_monitor.h.

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

• moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor.h
• moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp