robot_interaction::RobotInteraction Class Reference

#include <robot_interaction.h>

Public Member Functions
	RobotInteraction (const moveit::core::RobotModelConstPtr &robot_model, const rclcpp::Node::SharedPtr &node, const std::string &ns="")
virtual	~RobotInteraction ()
const std::string &	getServerTopic () const
void	addActiveComponent (const InteractiveMarkerConstructorFn &construct, const ProcessFeedbackFn &process, const InteractiveMarkerUpdateFn &update=InteractiveMarkerUpdateFn(), const std::string &name="")
void	decideActiveComponents (const std::string &group)
void	decideActiveComponents (const std::string &group, InteractionStyle::InteractionStyle style)
void	clear ()
void	addInteractiveMarkers (const InteractionHandlerPtr &handler, const double marker_scale=0.0)
void	updateInteractiveMarkers (const InteractionHandlerPtr &handler)
bool	showingMarkers (const InteractionHandlerPtr &handler)
void	publishInteractiveMarkers ()
void	clearInteractiveMarkers ()
const moveit::core::RobotModelConstPtr &	getRobotModel () const
KinematicOptionsMapPtr	getKinematicOptionsMap ()
void	toggleMoveInteractiveMarkerTopic (bool enable)
const std::vector< EndEffectorInteraction > &	getActiveEndEffectors () const
const std::vector< JointInteraction > &	getActiveJoints () const

Static Public Attributes
static const std::string	INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic"
	The topic name on which the internal Interactive Marker Server operates.

Detailed Description

Definition at line 73 of file robot_interaction.h.

Constructor & Destructor Documentation

RobotInteraction()

robot_interaction::RobotInteraction::RobotInteraction	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const rclcpp::Node::SharedPtr &	node,
		const std::string &	ns = ""
	)

Definition at line 64 of file robot_interaction.cpp.

~RobotInteraction()

robot_interaction::RobotInteraction::~RobotInteraction ( )

virtual

Definition at line 79 of file robot_interaction.cpp.

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Member Function Documentation

addActiveComponent()

void robot_interaction::RobotInteraction::addActiveComponent	(	const InteractiveMarkerConstructorFn &	construct,
		const ProcessFeedbackFn &	process,
		const InteractiveMarkerUpdateFn &	update = InteractiveMarkerUpdateFn(),
		const std::string &	name = ""
	)

add an interaction. An interaction is a marker that can be used to manipulate the robot state. This function does not add any markers. To add markers for all active interactions call addInteractiveMarkers(). construct - a callback to construct the marker. See comment on InteractiveMarkerConstructorFn above. update - Called when the robot state changes. Updates the marker pose. Optional. See comment on InteractiveMarkerUpdateFn above. process - called when the marker moves. Updates the robot state. See comment on ProcessFeedbackFn above.

Definition at line 107 of file robot_interaction.cpp.

addInteractiveMarkers()

void robot_interaction::RobotInteraction::addInteractiveMarkers	(	const InteractionHandlerPtr &	handler,
		const double	marker_scale = 0.0
	)

Add interactive markers for all active interactions. This adds markers just to the one handler. If there are multiple handlers call this for each handler for which you want markers. The markers are not actually added until you call publishInteractiveMarkers().

Definition at line 474 of file robot_interaction.cpp.

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clear()

void robot_interaction::RobotInteraction::clear

(

)

remove all interactions. Also removes all markers.

Definition at line 365 of file robot_interaction.cpp.

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clearInteractiveMarkers()

void robot_interaction::RobotInteraction::clearInteractiveMarkers

(

)

Definition at line 375 of file robot_interaction.cpp.

decideActiveComponents() [1/2]

void robot_interaction::RobotInteraction::decideActiveComponents

(

const std::string &

group

)

Adds an interaction for:

• each end effector in the group that can be controller by IK
• each floating joint
• each planar joint If no end effector exists in the robot then adds an interaction for the last link in the chain. This function does not add any markers. To add markers for all active interactions call addInteractiveMarkers().

Definition at line 89 of file robot_interaction.cpp.

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decideActiveComponents() [2/2]

void robot_interaction::RobotInteraction::decideActiveComponents	(	const std::string &	group,
		InteractionStyle::InteractionStyle	style
	)

Definition at line 94 of file robot_interaction.cpp.

getActiveEndEffectors()

const std::vector< EndEffectorInteraction > & robot_interaction::RobotInteraction::getActiveEndEffectors ( ) const

inline

Definition at line 159 of file robot_interaction.h.

getActiveJoints()

const std::vector< JointInteraction > & robot_interaction::RobotInteraction::getActiveJoints ( ) const

inline

Definition at line 163 of file robot_interaction.h.

getKinematicOptionsMap()

KinematicOptionsMapPtr robot_interaction::RobotInteraction::getKinematicOptionsMap ( )

inline

Definition at line 151 of file robot_interaction.h.

getRobotModel()

const moveit::core::RobotModelConstPtr & robot_interaction::RobotInteraction::getRobotModel ( ) const

inline

Definition at line 144 of file robot_interaction.h.

getServerTopic()

const std::string & robot_interaction::RobotInteraction::getServerTopic ( ) const

inline

Definition at line 83 of file robot_interaction.h.

publishInteractiveMarkers()

void robot_interaction::RobotInteraction::publishInteractiveMarkers

(

)

Definition at line 689 of file robot_interaction.cpp.

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showingMarkers()

bool robot_interaction::RobotInteraction::showingMarkers

(

const InteractionHandlerPtr &

handler

)

Definition at line 695 of file robot_interaction.cpp.

toggleMoveInteractiveMarkerTopic()

void robot_interaction::RobotInteraction::toggleMoveInteractiveMarkerTopic

(

bool

enable

)

Definition at line 592 of file robot_interaction.cpp.

updateInteractiveMarkers()

void robot_interaction::RobotInteraction::updateInteractiveMarkers

(

const InteractionHandlerPtr &

handler

)

Definition at line 649 of file robot_interaction.cpp.

Member Data Documentation

INTERACTIVE_MARKER_TOPIC

const std::string robot_interaction::RobotInteraction::INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic"

static

The topic name on which the internal Interactive Marker Server operates.

Definition at line 77 of file robot_interaction.h.

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

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