The MoveIt Motion Planning Framework for ROS 2.
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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>


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::RobotTrajectorygetTrajectory ()
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 



Definition at line 44 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.


◆ ~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 109 of file trajectory_monitor.cpp.

◆ getSamplingFrequency()

double planning_scene_monitor::TrajectoryMonitor::getSamplingFrequency ( ) const

Definition at line 104 of file trajectory_monitor.h.

◆ getTrajectory()

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

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 84 of file trajectory_monitor.cpp.

◆ setOnStateAddCallback()

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

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 89 of file trajectory_monitor.cpp.

◆ stopTrajectoryMonitor()

void planning_scene_monitor::TrajectoryMonitor::stopTrajectoryMonitor ( )

Definition at line 98 of file trajectory_monitor.cpp.

◆ swapTrajectory()

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

Definition at line 118 of file trajectory_monitor.h.

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