KinematicModelStateMonitor is a class that monitors the robot state for the kinematic model defined in RobotModels If the pose is not included, the robot state is the frame of the link it attaches to the world. If the pose is included, the frame of the robot is the one in which the pose is published. More...
#include <kinematic_model_state_monitor.h>
Public Member Functions | |
| void | addOnStateUpdateCallback (const boost::function< void(const sensor_msgs::JointStateConstPtr &joint_state)> &callback) |
| bool | allJointsUpdated (ros::Duration dur=ros::Duration()) const |
| bool | getCachedJointStateValues (const ros::Time &time, std::map< std::string, double > &ret_map) const |
| std::map< std::string, double > | getCurrentJointStateValues () const |
| bool | getCurrentRobotState (arm_navigation_msgs::RobotState &robot_state) const |
| const planning_models::KinematicModel * | getKinematicModel (void) const |
| Get the kinematic model that is being used to check for validity. | |
| RobotModels * | getRobotModels (void) const |
| Get the instance of RobotModels that is being used. | |
| tf::TransformListener * | getTransformListener (void) const |
| Return the transform listener. | |
| bool | haveState (void) const |
| Return true if a full joint state has been received (including pose, if pose inclusion is enabled) | |
| bool | isJointStateUpdated (double sec) const |
| Return true if a joint state has been received in the last sec seconds. If sec < 10us, this function always returns true. | |
| bool | isPoseUpdated (double sec) const |
| Return true if a pose has been received in the last sec seconds. If sec < 10us, this function always returns true. | |
| bool | isStateMonitorStarted (void) const |
| Check if the state monitor is currently started. | |
| KinematicModelStateMonitor (RobotModels *rm, tf::TransformListener *tf) | |
| const ros::Time & | lastJointStateUpdate (void) const |
| Return the time of the last state update. | |
| const ros::Time & | lastPoseUpdate (void) const |
| Return the time of the last pose update. | |
| void | printRobotState (void) const |
| Output the current state as ROS INFO. | |
| bool | setKinematicStateToTime (const ros::Time &time, planning_models::KinematicState &state) const |
| void | setStateValuesFromCurrentValues (planning_models::KinematicState &state) const |
| Sets the model used for collision/valditity checking to the current state values. | |
| void | startStateMonitor (void) |
| Start the state monitor. By default, the monitor is started after creation. | |
| void | stopStateMonitor (void) |
| Stop the state monitor. | |
| void | waitForState (void) const |
| Wait until a full joint state is received (including pose, if pose inclusion is enabled) | |
| virtual | ~KinematicModelStateMonitor (void) |
Protected Member Functions | |
| void | jointStateCallback (const sensor_msgs::JointStateConstPtr &joint_state) |
| void | setupRSM (void) |
Protected Attributes | |
| std::map< std::string, double > | current_joint_state_map_ |
| boost::recursive_mutex | current_joint_values_lock_ |
| bool | have_joint_state_ |
| bool | have_pose_ |
| double | joint_state_cache_allowed_difference_ |
| double | joint_state_cache_time_ |
| std::list< std::pair < ros::Time, std::map < std::string, double > > > | joint_state_map_cache_ |
| ros::Subscriber | joint_state_subscriber_ |
| const planning_models::KinematicModel * | kmodel_ |
| ros::Time | last_joint_state_update_ |
| std::map< std::string, ros::Time > | last_joint_update_ |
| ros::Time | last_pose_update_ |
| ros::NodeHandle | nh_ |
| boost::function< void(const sensor_msgs::JointStateConstPtr &joint_state)> | on_state_update_callback_ |
| tf::Pose | pose_ |
| bool | printed_out_of_date_ |
| RobotModels * | rm_ |
| std::string | robot_frame_ |
| ros::NodeHandle | root_handle_ |
| bool | state_monitor_started_ |
| tf::TransformListener * | tf_ |
Detailed Description
KinematicModelStateMonitor is a class that monitors the robot state for the kinematic model defined in RobotModels If the pose is not included, the robot state is the frame of the link it attaches to the world. If the pose is included, the frame of the robot is the one in which the pose is published.
Definition at line 62 of file kinematic_model_state_monitor.h.
Constructor & Destructor Documentation
| planning_environment::KinematicModelStateMonitor::KinematicModelStateMonitor | ( | RobotModels * | rm, |
| tf::TransformListener * | tf | ||
| ) | [inline] |
Definition at line 66 of file kinematic_model_state_monitor.h.
| virtual planning_environment::KinematicModelStateMonitor::~KinematicModelStateMonitor | ( | void | ) | [inline, virtual] |
Definition at line 73 of file kinematic_model_state_monitor.h.
Member Function Documentation
| void planning_environment::KinematicModelStateMonitor::addOnStateUpdateCallback | ( | const boost::function< void(const sensor_msgs::JointStateConstPtr &joint_state)> & | callback | ) | [inline] |
Definition at line 89 of file kinematic_model_state_monitor.h.
| bool planning_environment::KinematicModelStateMonitor::allJointsUpdated | ( | ros::Duration | dur = ros::Duration() | ) | const |
Definition at line 226 of file kinematic_model_state_monitor.cpp.
| bool planning_environment::KinematicModelStateMonitor::getCachedJointStateValues | ( | const ros::Time & | time, |
| std::map< std::string, double > & | ret_map | ||
| ) | const |
Definition at line 277 of file kinematic_model_state_monitor.cpp.
| std::map<std::string, double> planning_environment::KinematicModelStateMonitor::getCurrentJointStateValues | ( | ) | const [inline] |
Definition at line 156 of file kinematic_model_state_monitor.h.
| bool planning_environment::KinematicModelStateMonitor::getCurrentRobotState | ( | arm_navigation_msgs::RobotState & | robot_state | ) | const |
Definition at line 258 of file kinematic_model_state_monitor.cpp.
| const planning_models::KinematicModel* planning_environment::KinematicModelStateMonitor::getKinematicModel | ( | void | ) | const [inline] |
Get the kinematic model that is being used to check for validity.
Definition at line 94 of file kinematic_model_state_monitor.h.
| RobotModels* planning_environment::KinematicModelStateMonitor::getRobotModels | ( | void | ) | const [inline] |
Get the instance of RobotModels that is being used.
Definition at line 100 of file kinematic_model_state_monitor.h.
| tf::TransformListener* planning_environment::KinematicModelStateMonitor::getTransformListener | ( | void | ) | const [inline] |
Return the transform listener.
Definition at line 106 of file kinematic_model_state_monitor.h.
| bool planning_environment::KinematicModelStateMonitor::haveState | ( | void | ) | const [inline] |
Return true if a full joint state has been received (including pose, if pose inclusion is enabled)
Definition at line 112 of file kinematic_model_state_monitor.h.
| bool planning_environment::KinematicModelStateMonitor::isJointStateUpdated | ( | double | sec | ) | const |
Return true if a joint state has been received in the last sec seconds. If sec < 10us, this function always returns true.
Definition at line 349 of file kinematic_model_state_monitor.cpp.
| bool planning_environment::KinematicModelStateMonitor::isPoseUpdated | ( | double | sec | ) | const |
Return true if a pose has been received in the last sec seconds. If sec < 10us, this function always returns true.
Definition at line 379 of file kinematic_model_state_monitor.cpp.
| bool planning_environment::KinematicModelStateMonitor::isStateMonitorStarted | ( | void | ) | const [inline] |
Check if the state monitor is currently started.
Definition at line 84 of file kinematic_model_state_monitor.h.
| void planning_environment::KinematicModelStateMonitor::jointStateCallback | ( | const sensor_msgs::JointStateConstPtr & | joint_state | ) | [protected] |
Definition at line 93 of file kinematic_model_state_monitor.cpp.
| const ros::Time& planning_environment::KinematicModelStateMonitor::lastJointStateUpdate | ( | void | ) | const [inline] |
Return the time of the last state update.
Definition at line 118 of file kinematic_model_state_monitor.h.
| const ros::Time& planning_environment::KinematicModelStateMonitor::lastPoseUpdate | ( | void | ) | const [inline] |
Return the time of the last pose update.
Definition at line 124 of file kinematic_model_state_monitor.h.
| void planning_environment::KinematicModelStateMonitor::printRobotState | ( | void | ) | const |
Output the current state as ROS INFO.
| bool planning_environment::KinematicModelStateMonitor::setKinematicStateToTime | ( | const ros::Time & | time, |
| planning_models::KinematicState & | state | ||
| ) | const |
Definition at line 266 of file kinematic_model_state_monitor.cpp.
| void planning_environment::KinematicModelStateMonitor::setStateValuesFromCurrentValues | ( | planning_models::KinematicState & | state | ) | const |
Sets the model used for collision/valditity checking to the current state values.
Definition at line 250 of file kinematic_model_state_monitor.cpp.
| void planning_environment::KinematicModelStateMonitor::setupRSM | ( | void | ) | [protected] |
Definition at line 43 of file kinematic_model_state_monitor.cpp.
Start the state monitor. By default, the monitor is started after creation.
Definition at line 65 of file kinematic_model_state_monitor.cpp.
Stop the state monitor.
Definition at line 79 of file kinematic_model_state_monitor.cpp.
| void planning_environment::KinematicModelStateMonitor::waitForState | ( | void | ) | const |
Wait until a full joint state is received (including pose, if pose inclusion is enabled)
Definition at line 330 of file kinematic_model_state_monitor.cpp.
Member Data Documentation
std::map<std::string, double> planning_environment::KinematicModelStateMonitor::current_joint_state_map_ [protected] |
Definition at line 171 of file kinematic_model_state_monitor.h.
boost::recursive_mutex planning_environment::KinematicModelStateMonitor::current_joint_values_lock_ [mutable, protected] |
Definition at line 173 of file kinematic_model_state_monitor.h.
Definition at line 196 of file kinematic_model_state_monitor.h.
Definition at line 195 of file kinematic_model_state_monitor.h.
double planning_environment::KinematicModelStateMonitor::joint_state_cache_allowed_difference_ [protected] |
Definition at line 176 of file kinematic_model_state_monitor.h.
double planning_environment::KinematicModelStateMonitor::joint_state_cache_time_ [protected] |
Definition at line 175 of file kinematic_model_state_monitor.h.
std::list<std::pair<ros::Time, std::map<std::string, double> > > planning_environment::KinematicModelStateMonitor::joint_state_map_cache_ [protected] |
Definition at line 168 of file kinematic_model_state_monitor.h.
ros::Subscriber planning_environment::KinematicModelStateMonitor::joint_state_subscriber_ [protected] |
Definition at line 187 of file kinematic_model_state_monitor.h.
const planning_models::KinematicModel* planning_environment::KinematicModelStateMonitor::kmodel_ [protected] |
Definition at line 180 of file kinematic_model_state_monitor.h.
Definition at line 197 of file kinematic_model_state_monitor.h.
std::map<std::string, ros::Time> planning_environment::KinematicModelStateMonitor::last_joint_update_ [protected] |
Definition at line 170 of file kinematic_model_state_monitor.h.
Definition at line 198 of file kinematic_model_state_monitor.h.
Definition at line 185 of file kinematic_model_state_monitor.h.
boost::function<void(const sensor_msgs::JointStateConstPtr &joint_state)> planning_environment::KinematicModelStateMonitor::on_state_update_callback_ [protected] |
Definition at line 193 of file kinematic_model_state_monitor.h.
Definition at line 190 of file kinematic_model_state_monitor.h.
Definition at line 183 of file kinematic_model_state_monitor.h.
Definition at line 178 of file kinematic_model_state_monitor.h.
std::string planning_environment::KinematicModelStateMonitor::robot_frame_ [protected] |
Definition at line 191 of file kinematic_model_state_monitor.h.
Definition at line 186 of file kinematic_model_state_monitor.h.
Definition at line 182 of file kinematic_model_state_monitor.h.
Definition at line 188 of file kinematic_model_state_monitor.h.
The documentation for this class was generated from the following files: