#include <interaction_handler.h>

Inheritance diagram for robot_interaction::InteractionHandler:

Collaboration diagram for robot_interaction::InteractionHandler:

Public Member Functions
	InteractionHandler (const RobotInteractionPtr &robot_interaction, const std::string &name, const moveit::core::RobotState &initial_robot_state, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >())

	InteractionHandler (const RobotInteractionPtr &robot_interaction, const std::string &name, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >())

	InteractionHandler (const std::string &name, const moveit::core::RobotState &initial_robot_state, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >())

	InteractionHandler (const std::string &name, const moveit::core::RobotModelConstPtr &model, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer=std::shared_ptr< tf2_ros::Buffer >())

	~InteractionHandler () override

const std::string &	getName () const

void	setUpdateCallback (const InteractionHandlerCallbackFn &callback)

const InteractionHandlerCallbackFn &	getUpdateCallback () const

void	setMeshesVisible (bool visible)

bool	getMeshesVisible () const

void	setControlsVisible (bool visible)

bool	getControlsVisible () const

void	setPoseOffset (const EndEffectorInteraction &eef, const geometry_msgs::msg::Pose &m)
	Set the offset from EEF to its marker.

void	setPoseOffset (const JointInteraction &j, const geometry_msgs::msg::Pose &m)
	Set the offset from a joint to its marker.

bool	getPoseOffset (const EndEffectorInteraction &eef, geometry_msgs::msg::Pose &m)
	Get the offset from EEF to its marker.

bool	getPoseOffset (const JointInteraction &vj, geometry_msgs::msg::Pose &m)
	Get the offset from a joint to its marker.

void	clearPoseOffset (const EndEffectorInteraction &eef)
	Clear the interactive marker pose offset for the given end-effector.

void	clearPoseOffset (const JointInteraction &vj)
	Clear the interactive marker pose offset for the given joint.

void	clearPoseOffsets ()
	Clear the pose offset for all end-effectors and virtual joints.

void	setMenuHandler (const std::shared_ptr< interactive_markers::MenuHandler > &mh)
	Set the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

const std::shared_ptr< interactive_markers::MenuHandler > &	getMenuHandler ()
	Get the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

void	clearMenuHandler ()
	Remove the menu handler for this interaction handler.

bool	getLastEndEffectorMarkerPose (const EndEffectorInteraction &eef, geometry_msgs::msg::PoseStamped &pose)
	Get the last interactive_marker command pose for an end-effector.

bool	getLastJointMarkerPose (const JointInteraction &vj, geometry_msgs::msg::PoseStamped &pose)
	Get the last interactive_marker command pose for a joint.

void	clearLastEndEffectorMarkerPose (const EndEffectorInteraction &eef)
	Clear the last interactive_marker command pose for the given end-effector.

void	clearLastJointMarkerPose (const JointInteraction &vj)
	Clear the last interactive_marker command pose for the given joint.

void	clearLastMarkerPoses ()
	Clear the last interactive_marker command poses for all end-effectors and joints.

virtual void	handleEndEffector (const EndEffectorInteraction &eef, const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message.

virtual void	handleJoint (const JointInteraction &vj, const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message.

virtual void	handleGeneric (const GenericInteraction &g, const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr &feedback)
	Update the internal state maintained by the handler using information from the received feedback message.

virtual bool	inError (const EndEffectorInteraction &eef) const
	Check if the marker corresponding to this end-effector leads to an invalid state.

virtual bool	inError (const JointInteraction &vj) const
	Check if the marker corresponding to this joint leads to an invalid state.

virtual bool	inError (const GenericInteraction &g) const
	Check if the generic marker to an invalid state.

void	clearError ()
	Clear any error settings. This makes the markers appear as if the state is no longer invalid.

moveit::core::RobotStateConstPtr	getState () const
	Get a copy of the RobotState maintained by this InteractionHandler.

void	setState (const moveit::core::RobotState &state)
	Set a new RobotState for this InteractionHandler.

Public Member Functions inherited from robot_interaction::LockedRobotState
	LockedRobotState (const moveit::core::RobotState &state)

	LockedRobotState (const moveit::core::RobotModelPtr &model)

virtual	~LockedRobotState ()

moveit::core::RobotStateConstPtr	getState () const
	get read-only access to the state.

void	setState (const moveit::core::RobotState &state)
	Set the state to the new value.

void	modifyState (const ModifyStateFunction &modify)

Protected Member Functions
bool	transformFeedbackPose (const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr &feedback, const geometry_msgs::msg::Pose &offset, geometry_msgs::msg::PoseStamped &tpose)

Protected Member Functions inherited from robot_interaction::LockedRobotState
virtual void	robotStateChanged ()

Protected Attributes
const std::string	name_

const std::string	planning_frame_

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

Protected Attributes inherited from robot_interaction::LockedRobotState
std::mutex	state_lock_

Additional Inherited Members
Public Types inherited from robot_interaction::LockedRobotState
typedef std::function< void(moveit::core::RobotState *)>	ModifyStateFunction

Detailed Description

Manage interactive markers to control a RobotState.

Each instance maintains one or more interactive markers to control various joints in one group of one RobotState. The group being controlled is maintained by the RobotInteraction object that contains this InteractionHandler object. All InteractionHandler objects in the same RobotInteraction are controlling the same group.

Definition at line 76 of file interaction_handler.h.

Constructor & Destructor Documentation

◆ InteractionHandler() [1/4]

robot_interaction::InteractionHandler::InteractionHandler	(	const RobotInteractionPtr &	robot_interaction,
		const std::string &	name,
		const moveit::core::RobotState &	initial_robot_state,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = `std::shared_ptr<tf2_ros::Buffer>()`
	)

Definition at line 59 of file interaction_handler.cpp.

◆ InteractionHandler() [2/4]

robot_interaction::InteractionHandler::InteractionHandler	(	const RobotInteractionPtr &	robot_interaction,
		const std::string &	name,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = `std::shared_ptr<tf2_ros::Buffer>()`
	)

Definition at line 72 of file interaction_handler.cpp.

◆ InteractionHandler() [3/4]

robot_interaction::InteractionHandler::InteractionHandler	(	const std::string &	name,
		const moveit::core::RobotState &	initial_robot_state,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = `std::shared_ptr< tf2_ros::Buffer >()`
	)

◆ InteractionHandler() [4/4]

robot_interaction::InteractionHandler::InteractionHandler	(	const std::string &	name,
		const moveit::core::RobotModelConstPtr &	model,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = `std::shared_ptr< tf2_ros::Buffer >()`
	)

◆ ~InteractionHandler()

robot_interaction::InteractionHandler::~InteractionHandler ( )

inlineoverride

Definition at line 95 of file interaction_handler.h.

Member Function Documentation

◆ clearError()

void robot_interaction::InteractionHandler::clearError ( )

Clear any error settings. This makes the markers appear as if the state is no longer invalid.

Definition at line 353 of file interaction_handler.cpp.

◆ clearLastEndEffectorMarkerPose()

void robot_interaction::InteractionHandler::clearLastEndEffectorMarkerPose ( const EndEffectorInteraction & eef )

Clear the last interactive_marker command pose for the given end-effector.

Parameters

The	target end-effector.

Definition at line 169 of file interaction_handler.cpp.

◆ clearLastJointMarkerPose()

void robot_interaction::InteractionHandler::clearLastJointMarkerPose ( const JointInteraction & vj )

Clear the last interactive_marker command pose for the given joint.

Parameters

The	target joint.

Definition at line 175 of file interaction_handler.cpp.

◆ clearLastMarkerPoses()

void robot_interaction::InteractionHandler::clearLastMarkerPoses ( )

Clear the last interactive_marker command poses for all end-effectors and joints.

Definition at line 181 of file interaction_handler.cpp.

◆ clearMenuHandler()

void robot_interaction::InteractionHandler::clearMenuHandler ( )

Remove the menu handler for this interaction handler.

Definition at line 199 of file interaction_handler.cpp.

◆ clearPoseOffset() [1/2]

void robot_interaction::InteractionHandler::clearPoseOffset ( const EndEffectorInteraction & eef )

Clear the interactive marker pose offset for the given end-effector.

Parameters

The	target end-effector.

Definition at line 102 of file interaction_handler.cpp.

◆ clearPoseOffset() [2/2]

void robot_interaction::InteractionHandler::clearPoseOffset ( const JointInteraction & vj )

Clear the interactive marker pose offset for the given joint.

Parameters

The	target joint.

Definition at line 108 of file interaction_handler.cpp.

◆ clearPoseOffsets()

void robot_interaction::InteractionHandler::clearPoseOffsets ( )

Clear the pose offset for all end-effectors and virtual joints.

Definition at line 114 of file interaction_handler.cpp.

◆ getControlsVisible()

bool robot_interaction::InteractionHandler::getControlsVisible ( ) const

Definition at line 456 of file interaction_handler.cpp.

◆ getLastEndEffectorMarkerPose()

bool robot_interaction::InteractionHandler::getLastEndEffectorMarkerPose	(	const EndEffectorInteraction &	eef,
		geometry_msgs::msg::PoseStamped &	pose
	)

Get the last interactive_marker command pose for an end-effector.

Parameters

The	end-effector in question.
A	PoseStamped message containing the last (offset-removed) pose commanded for the end-effector.

Returns: True if a pose for that end-effector was found, false otherwise.

Definition at line 144 of file interaction_handler.cpp.

◆ getLastJointMarkerPose()

bool robot_interaction::InteractionHandler::getLastJointMarkerPose	(	const JointInteraction &	vj,
		geometry_msgs::msg::PoseStamped &	pose
	)

Get the last interactive_marker command pose for a joint.

Parameters

The	joint in question.
A	PoseStamped message containing the last (offset-removed) pose commanded for the joint.

Returns: True if a pose for that joint was found, false otherwise.

Definition at line 157 of file interaction_handler.cpp.

◆ getMenuHandler()

const std::shared_ptr< interactive_markers::MenuHandler > & robot_interaction::InteractionHandler::getMenuHandler ( )

Get the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

Returns: The menu handler.

Definition at line 193 of file interaction_handler.cpp.

◆ getMeshesVisible()

bool robot_interaction::InteractionHandler::getMeshesVisible ( ) const

Definition at line 444 of file interaction_handler.cpp.

◆ getName()

const std::string & robot_interaction::InteractionHandler::getName ( ) const

inline

Definition at line 99 of file interaction_handler.h.

◆ getPoseOffset() [1/2]

bool robot_interaction::InteractionHandler::getPoseOffset	(	const EndEffectorInteraction &	eef,
		geometry_msgs::msg::Pose &	m
	)

Get the offset from EEF to its marker.

Parameters

The	target end-effector.
The	pose offset (only valid if return value is true).

Returns: True if an offset was found for the given end-effector.

Definition at line 120 of file interaction_handler.cpp.

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◆ getPoseOffset() [2/2]

bool robot_interaction::InteractionHandler::getPoseOffset	(	const JointInteraction &	vj,
		geometry_msgs::msg::Pose &	m
	)

Get the offset from a joint to its marker.

Parameters

vj	The joint.
m	The pose offset (only valid if return value is true).

Returns: True if an offset was found for the given joint.

Definition at line 132 of file interaction_handler.cpp.

◆ getState()

moveit::core::RobotStateConstPtr robot_interaction::LockedRobotState::getState ( ) const

Get a copy of the RobotState maintained by this InteractionHandler.

Definition at line 76 of file locked_robot_state.cpp.

◆ getUpdateCallback()

const InteractionHandlerCallbackFn & robot_interaction::InteractionHandler::getUpdateCallback ( ) const

Definition at line 432 of file interaction_handler.cpp.

◆ handleEndEffector()

void robot_interaction::InteractionHandler::handleEndEffector	(	const EndEffectorInteraction &	eef,
		const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr &	feedback
	)

virtual

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 222 of file interaction_handler.cpp.

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◆ handleGeneric()

void robot_interaction::InteractionHandler::handleGeneric	(	const GenericInteraction &	g,
		const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr &	feedback
	)

virtual

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 205 of file interaction_handler.cpp.

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◆ handleJoint()

void robot_interaction::InteractionHandler::handleJoint	(	const JointInteraction &	vj,
		const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr &	feedback
	)

virtual

Update the internal state maintained by the handler using information from the received feedback message.

Definition at line 255 of file interaction_handler.cpp.

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◆ inError() [1/3]

bool robot_interaction::InteractionHandler::inError ( const EndEffectorInteraction & eef ) const

virtual

Check if the marker corresponding to this end-effector leads to an invalid state.

Definition at line 338 of file interaction_handler.cpp.

◆ inError() [2/3]

bool robot_interaction::InteractionHandler::inError ( const GenericInteraction & g ) const

virtual

Check if the generic marker to an invalid state.

Definition at line 343 of file interaction_handler.cpp.

◆ inError() [3/3]

bool robot_interaction::InteractionHandler::inError ( const JointInteraction & vj ) const

virtual

Check if the marker corresponding to this joint leads to an invalid state.

Definition at line 348 of file interaction_handler.cpp.

◆ setControlsVisible()

void robot_interaction::InteractionHandler::setControlsVisible ( bool visible )

Definition at line 450 of file interaction_handler.cpp.

◆ setMenuHandler()

void robot_interaction::InteractionHandler::setMenuHandler ( const std::shared_ptr< interactive_markers::MenuHandler > & mh )

Set the menu handler that defines menus and callbacks for all interactive markers drawn by this interaction handler.

Parameters

A	menu handler.

Definition at line 187 of file interaction_handler.cpp.

◆ setMeshesVisible()

void robot_interaction::InteractionHandler::setMeshesVisible ( bool visible )

Definition at line 438 of file interaction_handler.cpp.

◆ setPoseOffset() [1/2]

void robot_interaction::InteractionHandler::setPoseOffset	(	const EndEffectorInteraction &	eef,
		const geometry_msgs::msg::Pose &	m
	)

Set the offset from EEF to its marker.

Parameters

eef	The target end-effector.
m	The pose of the marker in the frame of the end-effector parent.

Definition at line 90 of file interaction_handler.cpp.

◆ setPoseOffset() [2/2]

void robot_interaction::InteractionHandler::setPoseOffset	(	const JointInteraction &	j,
		const geometry_msgs::msg::Pose &	m
	)

Set the offset from a joint to its marker.

Parameters

j	The target joint.
m	The pose of the marker in the frame of the joint parent.

Definition at line 96 of file interaction_handler.cpp.

◆ setState()

void robot_interaction::LockedRobotState::setState ( const moveit::core::RobotState & state )

Set a new RobotState for this InteractionHandler.

Definition at line 79 of file locked_robot_state.cpp.

◆ setUpdateCallback()

void robot_interaction::InteractionHandler::setUpdateCallback ( const InteractionHandlerCallbackFn & callback )

Definition at line 426 of file interaction_handler.cpp.

◆ transformFeedbackPose()

bool robot_interaction::InteractionHandler::transformFeedbackPose	(	const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr &	feedback,
		const geometry_msgs::msg::Pose &	offset,
		geometry_msgs::msg::PoseStamped &	tpose
	)

protected

Definition at line 386 of file interaction_handler.cpp.

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Member Data Documentation

◆ name_

const std::string robot_interaction::InteractionHandler::name_

protected

Definition at line 225 of file interaction_handler.h.

◆ planning_frame_

const std::string robot_interaction::InteractionHandler::planning_frame_

protected

Definition at line 226 of file interaction_handler.h.

◆ tf_buffer_

std::shared_ptr<tf2_ros::Buffer> robot_interaction::InteractionHandler::tf_buffer_

protected

Definition at line 227 of file interaction_handler.h.

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

moveit_ros/robot_interaction/include/moveit/robot_interaction/interaction_handler.h
moveit_ros/robot_interaction/src/interaction_handler.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ InteractionHandler() [1/4]

◆ InteractionHandler() [2/4]

◆ InteractionHandler() [3/4]

◆ InteractionHandler() [4/4]

◆ ~InteractionHandler()

Member Function Documentation

◆ clearError()

◆ clearLastEndEffectorMarkerPose()

◆ clearLastJointMarkerPose()

◆ clearLastMarkerPoses()

◆ clearMenuHandler()

◆ clearPoseOffset() [1/2]

◆ clearPoseOffset() [2/2]

◆ clearPoseOffsets()

◆ getControlsVisible()

◆ getLastEndEffectorMarkerPose()

◆ getLastJointMarkerPose()

◆ getMenuHandler()

◆ getMeshesVisible()

◆ getName()

◆ getPoseOffset() [1/2]

◆ getPoseOffset() [2/2]

◆ getState()

◆ getUpdateCallback()

◆ handleEndEffector()

◆ handleGeneric()

◆ handleJoint()

◆ inError() [1/3]

◆ inError() [2/3]

◆ inError() [3/3]

◆ setControlsVisible()

◆ setMenuHandler()

◆ setMeshesVisible()

◆ setPoseOffset() [1/2]

◆ setPoseOffset() [2/2]

◆ setState()

◆ setUpdateCallback()

◆ transformFeedbackPose()

Member Data Documentation

◆ name_

◆ planning_frame_

◆ tf_buffer_