#include <motion_planning_display.hpp>

Inheritance diagram for moveit_rviz_plugin::MotionPlanningDisplay:

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Collaboration 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::RobotState &	getPreviousState () 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

void	waitForAllMainLoopJobs ()

void	clearJobs ()
	remove all queued jobs

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

planning_scene_monitor::LockedPlanningSceneRO	getPlanningSceneRO () const
	get read-only access to planning scene

planning_scene_monitor::LockedPlanningSceneRW	getPlanningSceneRW ()
	get write access to planning scene

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.

void	onNewPlanningSceneState () override
	This is called upon successful retrieval of the (initial) planning scene state.

void	onSceneMonitorReceivedUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type) override

void	updateInternal (std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override

void	updateInternal (double wall_dt, double 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.

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.

RobotStateVisualizationPtr	query_robot_goal_
	Handles drawing the robot at the goal configuration.

Ogre::SceneNode *	text_display_scene_node_
	displays texts

bool	text_display_for_start_
	indicates whether the text display is for the start state or not

rviz_rendering::MovableText *	text_to_display_

rclcpp::Subscription< std_msgs::msg::String >::SharedPtr	planning_group_sub_

std::unique_ptr< rviz_rendering::Shape >	workspace_box_

MotionPlanningFrame *	frame_

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, LinkDisplayStatus >	status_links_start_

std::map< std::string, LinkDisplayStatus >	status_links_goal_

moveit::core::RobotStatePtr	previous_state_
	remember previous start state (updated before starting execution)

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.

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

RobotStateVisualizationPtr	planning_scene_robot_

PlanningSceneRenderPtr	planning_scene_render_

bool	planning_scene_needs_render_

bool	robot_state_needs_render_

double	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_

rclcpp::Logger	logger_

Additional Inherited Members
Protected Slots inherited from moveit_rviz_plugin::PlanningSceneDisplay
virtual void	changedAttachedBodyColor ()

Detailed Description

Definition at line 99 of file motion_planning_display.hpp.

Member Enumeration Documentation

◆ LinkDisplayStatus

enum moveit_rviz_plugin::MotionPlanningDisplay::LinkDisplayStatus

protected

Enumerator
COLLISION_LINK
OUTSIDE_BOUNDS_LINK

Definition at line 217 of file motion_planning_display.hpp.

Constructor & Destructor Documentation

◆ MotionPlanningDisplay()

moveit_rviz_plugin::MotionPlanningDisplay::MotionPlanningDisplay ( )

Definition at line 82 of file motion_planning_display.cpp.

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◆ ~MotionPlanningDisplay()

moveit_rviz_plugin::MotionPlanningDisplay::~MotionPlanningDisplay ( )

override

Definition at line 191 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 695 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 701 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 322 of file motion_planning_display.cpp.

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◆ changePlanningGroup()

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

Definition at line 1032 of file motion_planning_display.cpp.

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◆ clearPlaceLocationsDisplay()

void moveit_rviz_plugin::MotionPlanningDisplay::clearPlaceLocationsDisplay ( )

Definition at line 1487 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 1149 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 479 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 496 of file motion_planning_display.cpp.

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◆ displayMetrics()

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

protected

Definition at line 556 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 430 of file motion_planning_display.cpp.

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◆ drawQueryGoalState()

void moveit_rviz_plugin::MotionPlanningDisplay::drawQueryGoalState ( )

protected

Definition at line 741 of file motion_planning_display.cpp.

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◆ drawQueryStartState()

void moveit_rviz_plugin::MotionPlanningDisplay::drawQueryStartState ( )

protected

Definition at line 619 of file motion_planning_display.cpp.

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◆ dropVisualizedTrajectory()

void moveit_rviz_plugin::MotionPlanningDisplay::dropVisualizedTrajectory ( )

inline

Definition at line 153 of file motion_planning_display.hpp.

◆ executeMainLoopJobs()

void moveit_rviz_plugin::MotionPlanningDisplay::executeMainLoopJobs ( )

protected

◆ fixedFrameChanged()

void moveit_rviz_plugin::MotionPlanningDisplay::fixedFrameChanged ( )

overrideprotected

Definition at line 1472 of file motion_planning_display.cpp.

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◆ getCurrentPlanningGroup()

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

Definition at line 1077 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 133 of file motion_planning_display.hpp.

◆ getQueryGoalState()

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

inline

Definition at line 128 of file motion_planning_display.hpp.

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◆ getQueryGoalStateHandler()

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

inline

Definition at line 148 of file motion_planning_display.hpp.

◆ getQueryStartState()

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

inline

Definition at line 123 of file motion_planning_display.hpp.

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◆ getQueryStartStateHandler()

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

inline

Definition at line 143 of file motion_planning_display.hpp.

◆ getRobotInteraction()

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

inline

Definition at line 138 of file motion_planning_display.hpp.

◆ 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 977 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 1379 of file motion_planning_display.cpp.

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◆ onDisable()

void moveit_rviz_plugin::MotionPlanningDisplay::onDisable ( )

overrideprotected

Definition at line 1319 of file motion_planning_display.cpp.

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◆ onEnable()

void moveit_rviz_plugin::MotionPlanningDisplay::onEnable ( )

overrideprotected

Definition at line 1298 of file motion_planning_display.cpp.

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◆ onInitialize()

void moveit_rviz_plugin::MotionPlanningDisplay::onInitialize ( )

overrideprotected

Definition at line 204 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 1243 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 1166 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 1286 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 1117 of file motion_planning_display.cpp.

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◆ publishInteractiveMarkers()

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

protected

Definition at line 815 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 714 of file motion_planning_display.cpp.

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◆ recomputeQueryStartStateMetrics()

void moveit_rviz_plugin::MotionPlanningDisplay::recomputeQueryStartStateMetrics ( )

protected

Definition at line 707 of file motion_planning_display.cpp.

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◆ rememberPreviousStartState()

void moveit_rviz_plugin::MotionPlanningDisplay::rememberPreviousStartState ( )

Definition at line 948 of file motion_planning_display.cpp.

◆ renderWorkspaceBox()

void moveit_rviz_plugin::MotionPlanningDisplay::renderWorkspaceBox ( )

protected

Definition at line 456 of file motion_planning_display.cpp.

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◆ reset()

void moveit_rviz_plugin::MotionPlanningDisplay::reset ( )

override

Definition at line 300 of file motion_planning_display.cpp.

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◆ resetStatusTextColor()

void moveit_rviz_plugin::MotionPlanningDisplay::resetStatusTextColor ( )

Definition at line 684 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 1442 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 922 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 912 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 294 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 959 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 953 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 1082 of file motion_planning_display.cpp.

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◆ setStatusTextColor()

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

Definition at line 689 of file motion_planning_display.cpp.

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◆ toggleSelectPlanningGroupSubscription()

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

Definition at line 280 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 1353 of file motion_planning_display.cpp.

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◆ updateBackgroundJobProgressBar()

void moveit_rviz_plugin::MotionPlanningDisplay::updateBackgroundJobProgressBar ( )

protected

Definition at line 328 of file motion_planning_display.cpp.

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◆ updateInternal() [1/2]

void moveit_rviz_plugin::MotionPlanningDisplay::updateInternal	(	double	wall_dt,
		double	ros_dt
	)

overrideprotectedvirtual

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1374 of file motion_planning_display.cpp.

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◆ updateInternal() [2/2]

void moveit_rviz_plugin::MotionPlanningDisplay::updateInternal	(	std::chrono::nanoseconds	wall_dt,
		std::chrono::nanoseconds	ros_dt
	)

overrideprotectedvirtual

Reimplemented from moveit_rviz_plugin::PlanningSceneDisplay.

Definition at line 1364 of file motion_planning_display.cpp.

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◆ updateLinkColors()

void moveit_rviz_plugin::MotionPlanningDisplay::updateLinkColors ( )

protected

Definition at line 992 of file motion_planning_display.cpp.

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◆ updateQueryGoalState()

void moveit_rviz_plugin::MotionPlanningDisplay::updateQueryGoalState ( )

Definition at line 940 of file motion_planning_display.cpp.

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◆ updateQueryStartState()

void moveit_rviz_plugin::MotionPlanningDisplay::updateQueryStartState ( )

Definition at line 932 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 1267 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 1248 of file motion_planning_display.cpp.

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◆ useApproximateIK()

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

Definition at line 965 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 1494 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 337 of file motion_planning_display.hpp.

◆ 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 309 of file motion_planning_display.hpp.

◆ dynamics_solver_

std::map<std::string, dynamics_solver::DynamicsSolverPtr> moveit_rviz_plugin::MotionPlanningDisplay::dynamics_solver_

protected

Definition at line 315 of file motion_planning_display.hpp.

◆ frame_

MotionPlanningFrame* moveit_rviz_plugin::MotionPlanningDisplay::frame_

protected

Definition at line 289 of file motion_planning_display.hpp.

◆ frame_dock_

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

protected

Definition at line 290 of file motion_planning_display.hpp.

◆ int_marker_display_

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

protected

Definition at line 345 of file motion_planning_display.hpp.

◆ kinematics_metrics_

kinematics_metrics::KinematicsMetricsPtr moveit_rviz_plugin::MotionPlanningDisplay::kinematics_metrics_

protected

Definition at line 314 of file motion_planning_display.hpp.

◆ menu_handler_goal_

std::shared_ptr<interactive_markers::MenuHandler> moveit_rviz_plugin::MotionPlanningDisplay::menu_handler_goal_

protected

Definition at line 297 of file motion_planning_display.hpp.

◆ menu_handler_start_

std::shared_ptr<interactive_markers::MenuHandler> moveit_rviz_plugin::MotionPlanningDisplay::menu_handler_start_

protected

Definition at line 296 of file motion_planning_display.hpp.

◆ metrics_category_

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

protected

Definition at line 324 of file motion_planning_display.hpp.

◆ metrics_set_payload_property_

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

protected

Definition at line 341 of file motion_planning_display.hpp.

◆ metrics_text_height_property_

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

protected

Definition at line 342 of file motion_planning_display.hpp.

◆ 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 305 of file motion_planning_display.hpp.

◆ path_category_

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

protected

Definition at line 322 of file motion_planning_display.hpp.

◆ place_locations_display_

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

Definition at line 171 of file motion_planning_display.hpp.

◆ plan_category_

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

protected

Definition at line 323 of file motion_planning_display.hpp.

◆ planning_group_property_

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

protected

Definition at line 326 of file motion_planning_display.hpp.

◆ planning_group_sub_

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

protected

Definition at line 283 of file motion_planning_display.hpp.

◆ 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 311 of file motion_planning_display.hpp.

◆ previous_state_

moveit::core::RobotStatePtr moveit_rviz_plugin::MotionPlanningDisplay::previous_state_

protected

remember previous start state (updated before starting execution)

Definition at line 301 of file motion_planning_display.hpp.

◆ query_colliding_link_color_property_

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

protected

Definition at line 334 of file motion_planning_display.hpp.

◆ query_goal_alpha_property_

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

protected

Definition at line 333 of file motion_planning_display.hpp.

◆ query_goal_color_property_

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

protected

Definition at line 331 of file motion_planning_display.hpp.

◆ query_goal_state_

robot_interaction::InteractionHandlerPtr moveit_rviz_plugin::MotionPlanningDisplay::query_goal_state_

protected

Definition at line 295 of file motion_planning_display.hpp.

◆ query_goal_state_property_

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

protected

Definition at line 328 of file motion_planning_display.hpp.

◆ query_marker_scale_property_

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

protected

Definition at line 329 of file motion_planning_display.hpp.

◆ 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 335 of file motion_planning_display.hpp.

◆ query_robot_goal_

RobotStateVisualizationPtr moveit_rviz_plugin::MotionPlanningDisplay::query_robot_goal_

protected

Handles drawing the robot at the goal configuration.

Definition at line 277 of file motion_planning_display.hpp.

◆ query_robot_start_

RobotStateVisualizationPtr moveit_rviz_plugin::MotionPlanningDisplay::query_robot_start_

protected

Handles drawing the robot at the start configuration.

Definition at line 276 of file motion_planning_display.hpp.

◆ query_start_alpha_property_

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

protected

Definition at line 332 of file motion_planning_display.hpp.

◆ query_start_color_property_

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

protected

Definition at line 330 of file motion_planning_display.hpp.

◆ query_start_state_

robot_interaction::InteractionHandlerPtr moveit_rviz_plugin::MotionPlanningDisplay::query_start_state_

protected

Definition at line 294 of file motion_planning_display.hpp.

◆ query_start_state_property_

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

protected

Definition at line 327 of file motion_planning_display.hpp.

◆ robot_interaction_

robot_interaction::RobotInteractionPtr moveit_rviz_plugin::MotionPlanningDisplay::robot_interaction_

protected

Definition at line 293 of file motion_planning_display.hpp.

◆ show_joint_torques_property_

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

protected

Definition at line 340 of file motion_planning_display.hpp.

◆ show_manipulability_index_property_

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

protected

Definition at line 338 of file motion_planning_display.hpp.

◆ show_manipulability_property_

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

protected

Definition at line 339 of file motion_planning_display.hpp.

◆ show_workspace_property_

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

protected

Definition at line 343 of file motion_planning_display.hpp.

◆ status_links_goal_

std::map<std::string, LinkDisplayStatus> moveit_rviz_plugin::MotionPlanningDisplay::status_links_goal_

protected

Definition at line 299 of file motion_planning_display.hpp.

◆ status_links_start_

std::map<std::string, LinkDisplayStatus> moveit_rviz_plugin::MotionPlanningDisplay::status_links_start_

protected

Definition at line 298 of file motion_planning_display.hpp.

◆ 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 280 of file motion_planning_display.hpp.

◆ text_display_scene_node_

Ogre::SceneNode* moveit_rviz_plugin::MotionPlanningDisplay::text_display_scene_node_

protected

displays texts

Definition at line 279 of file motion_planning_display.hpp.

◆ text_to_display_

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

protected

Definition at line 281 of file motion_planning_display.hpp.

◆ trajectory_visual_

TrajectoryVisualizationPtr moveit_rviz_plugin::MotionPlanningDisplay::trajectory_visual_

protected

Definition at line 319 of file motion_planning_display.hpp.

◆ update_metrics_lock_

std::mutex moveit_rviz_plugin::MotionPlanningDisplay::update_metrics_lock_

protected

Definition at line 316 of file motion_planning_display.hpp.

◆ workspace_box_

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

protected

Definition at line 286 of file motion_planning_display.hpp.

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

moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.hpp
moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp

Signals

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ LinkDisplayStatus

Constructor & Destructor Documentation

◆ MotionPlanningDisplay()

◆ ~MotionPlanningDisplay()

Member Function Documentation

◆ addStatusText() [1/2]

◆ addStatusText() [2/2]

◆ backgroundJobUpdate()

◆ changePlanningGroup()

◆ clearPlaceLocationsDisplay()

◆ clearRobotModel()

◆ computeMetrics()

◆ computeMetricsInternal()

◆ displayMetrics()

◆ displayTable()

◆ drawQueryGoalState()

◆ drawQueryStartState()

◆ dropVisualizedTrajectory()

◆ executeMainLoopJobs()

◆ fixedFrameChanged()

◆ getCurrentPlanningGroup()

◆ getPreviousState()

◆ getQueryGoalState()

◆ getQueryGoalStateHandler()

◆ getQueryStartState()

◆ getQueryStartStateHandler()

◆ getRobotInteraction()

◆ isIKSolutionCollisionFree()

◆ load()

◆ onDisable()

◆ onEnable()

◆ onInitialize()

◆ onNewPlanningSceneState()

◆ onRobotModelLoaded()

◆ onSceneMonitorReceivedUpdate()

◆ populateMenuHandler()

◆ publishInteractiveMarkers()

◆ queryGoalStateChanged

◆ queryStartStateChanged

◆ recomputeQueryGoalStateMetrics()

◆ recomputeQueryStartStateMetrics()

◆ rememberPreviousStartState()

◆ renderWorkspaceBox()

◆ reset()

◆ resetStatusTextColor()

◆ save()

◆ scheduleDrawQueryGoalState()

◆ scheduleDrawQueryStartState()

◆ selectPlanningGroupCallback()

◆ setQueryGoalState()

◆ setQueryStartState()

◆ setQueryStateHelper()

◆ setStatusTextColor()

◆ toggleSelectPlanningGroupSubscription()

◆ update()

◆ updateBackgroundJobProgressBar()

◆ updateInternal() [1/2]

◆ updateInternal() [2/2]

◆ updateLinkColors()

◆ updateQueryGoalState()

◆ updateQueryStartState()

◆ updateQueryStates()

◆ updateStateExceptModified()

◆ useApproximateIK()

◆ visualizePlaceLocations()

Member Data Documentation

◆ compute_weight_limit_property_

◆ computed_metrics_

◆ dynamics_solver_

◆ frame_

◆ frame_dock_