robot_interaction Namespace Reference

Namespaces
namespace	InteractionStyle

Classes
struct	EndEffectorInteraction
struct	GenericInteraction
class	InteractionHandler
struct	JointInteraction
struct	KinematicOptions
class	KinematicOptionsMap
class	LockedRobotState
	Maintain a RobotState in a multithreaded environment. More...
class	RobotInteraction

Typedefs
typedef std::function< bool(const moveit::core::RobotState &state, visualization_msgs::msg::InteractiveMarker &marker)>	InteractiveMarkerConstructorFn
typedef std::function< bool(moveit::core::RobotState &state, const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr &feedback)>	ProcessFeedbackFn
typedef std::function< bool(const moveit::core::RobotState &, geometry_msgs::msg::Pose &)>	InteractiveMarkerUpdateFn
typedef std::function< void(InteractionHandler *, bool)>	InteractionHandlerCallbackFn

Functions
	MOVEIT_CLASS_FORWARD (InteractionHandler)
	MOVEIT_CLASS_FORWARD (RobotInteraction)
	MOVEIT_CLASS_FORWARD (KinematicOptionsMap)
visualization_msgs::msg::InteractiveMarker	makeEmptyInteractiveMarker (const std::string &name, const geometry_msgs::msg::PoseStamped &stamped, double scale)
visualization_msgs::msg::InteractiveMarker	make6DOFMarker (const std::string &name, const geometry_msgs::msg::PoseStamped &stamped, double scale, bool orientation_fixed=false)
visualization_msgs::msg::InteractiveMarker	makePlanarXYMarker (const std::string &name, const geometry_msgs::msg::PoseStamped &stamped, double scale, bool orientation_fixed=false)
void	addTArrowMarker (visualization_msgs::msg::InteractiveMarker &im)
void	addErrorMarker (visualization_msgs::msg::InteractiveMarker &im)
void	add6DOFControl (visualization_msgs::msg::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addPlanarXYControl (visualization_msgs::msg::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addOrientationControl (visualization_msgs::msg::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addPositionControl (visualization_msgs::msg::InteractiveMarker &int_marker, bool orientation_fixed=false)
void	addViewPlaneControl (visualization_msgs::msg::InteractiveMarker &int_marker, double radius, const std_msgs::msg::ColorRGBA &color, bool position=true, bool orientation=true)
	MOVEIT_CLASS_FORWARD (LockedRobotState)

Typedef Documentation

InteractionHandlerCallbackFn

typedef std::function<void(InteractionHandler*, bool)> robot_interaction::InteractionHandlerCallbackFn

Function type for notifying client of RobotState changes.

This callback function is called by the InteractionHandler::handle* functions, when changes are made to the internal robot state the handler maintains. The handler passes its own pointer as argument to the callback, as well as a boolean flag that indicates whether the error state changed – whether updates to the robot state performed in the InteractionHandler::handle* functions have switched from failing to succeeding or the other way around.

Definition at line 66 of file interaction_handler.h.

InteractiveMarkerConstructorFn

typedef std::function<bool(const moveit::core::RobotState& state, visualization_msgs::msg::InteractiveMarker& marker)> robot_interaction::InteractiveMarkerConstructorFn

Type of function for constructing markers. This callback sets up the marker used for an interaction.

Parameters

state	the current state of the robot
marker	the function should fill this in with an InteractiveMarker that will be used to control the interaction.

Returns

true if the function succeeds, false if the function was not able to fill in marker.

Definition at line 88 of file interaction.h.

InteractiveMarkerUpdateFn

typedef std::function<bool(const moveit::core::RobotState&, geometry_msgs::msg::Pose&)> robot_interaction::InteractiveMarkerUpdateFn

Type of function for updating marker pose for new state. This callback is called when the robot state has changed. Callback should calculate a new pose for the marker based on the passed in robot state.

Parameters

state	the new state of the robot
pose	the function should fill this in with the new pose of the marker, given the new state of the robot.

Returns

true if the pose was modified, false if no update is needed (i.e. if the pose did not change).

Definition at line 114 of file interaction.h.

ProcessFeedbackFn

typedef std::function<bool(moveit::core::RobotState& state, const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr& feedback)> robot_interaction::ProcessFeedbackFn

Type of function for processing marker feedback. This callback function handles feedback for an Interaction's marker. Callback should update the robot state that was passed in according to the new position of the marker.

Parameters

state	the current state of the robot
marker	the function should fill this in with an InteractiveMarker that will be used to control the interaction.

Returns

false if the state was not successfully updated or the new state is somehow invalid or erronious (e.g. in collision). true if everything worked well.

Definition at line 103 of file interaction.h.

Function Documentation

add6DOFControl()

void robot_interaction::add6DOFControl	(	visualization_msgs::msg::InteractiveMarker &	int_marker,
		bool	orientation_fixed = false
	)

Definition at line 171 of file interactive_marker_helpers.cpp.

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addErrorMarker()

void robot_interaction::addErrorMarker

(

visualization_msgs::msg::InteractiveMarker &

im

)

Definition at line 111 of file interactive_marker_helpers.cpp.

addOrientationControl()

void robot_interaction::addOrientationControl	(	visualization_msgs::msg::InteractiveMarker &	int_marker,
		bool	orientation_fixed = false
	)

Definition at line 177 of file interactive_marker_helpers.cpp.

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addPlanarXYControl()

void robot_interaction::addPlanarXYControl	(	visualization_msgs::msg::InteractiveMarker &	int_marker,
		bool	orientation_fixed = false
	)

Definition at line 143 of file interactive_marker_helpers.cpp.

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addPositionControl()

void robot_interaction::addPositionControl	(	visualization_msgs::msg::InteractiveMarker &	int_marker,
		bool	orientation_fixed = false
	)

Definition at line 205 of file interactive_marker_helpers.cpp.

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addTArrowMarker()

void robot_interaction::addTArrowMarker

(

visualization_msgs::msg::InteractiveMarker &

im

)

Definition at line 55 of file interactive_marker_helpers.cpp.

addViewPlaneControl()

void robot_interaction::addViewPlaneControl	(	visualization_msgs::msg::InteractiveMarker &	int_marker,
		double	radius,
		const std_msgs::msg::ColorRGBA &	color,
		bool	position = true,
		bool	orientation = true
	)

Definition at line 233 of file interactive_marker_helpers.cpp.

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make6DOFMarker()

visualization_msgs::msg::InteractiveMarker robot_interaction::make6DOFMarker	(	const std::string &	name,
		const geometry_msgs::msg::PoseStamped &	stamped,
		double	scale,
		bool	orientation_fixed = false
	)

Definition at line 276 of file interactive_marker_helpers.cpp.

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makeEmptyInteractiveMarker()

visualization_msgs::msg::InteractiveMarker robot_interaction::makeEmptyInteractiveMarker	(	const std::string &	name,
		const geometry_msgs::msg::PoseStamped &	stamped,
		double	scale
	)

Definition at line 45 of file interactive_marker_helpers.cpp.

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makePlanarXYMarker()

visualization_msgs::msg::InteractiveMarker robot_interaction::makePlanarXYMarker	(	const std::string &	name,
		const geometry_msgs::msg::PoseStamped &	stamped,
		double	scale,
		bool	orientation_fixed = false
	)

Definition at line 267 of file interactive_marker_helpers.cpp.

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MOVEIT_CLASS_FORWARD() [1/4]

robot_interaction::MOVEIT_CLASS_FORWARD

(

InteractionHandler

)

MOVEIT_CLASS_FORWARD() [2/4]

robot_interaction::MOVEIT_CLASS_FORWARD

(

KinematicOptionsMap

)

MOVEIT_CLASS_FORWARD() [3/4]

robot_interaction::MOVEIT_CLASS_FORWARD

(

LockedRobotState

)

MOVEIT_CLASS_FORWARD() [4/4]

robot_interaction::MOVEIT_CLASS_FORWARD

(

RobotInteraction

)