#include <environment_monitor_interface.h>

Collaboration diagram for tesseract_environment::EnvironmentMonitorInterface:

Public Types
using	Ptr = std::shared_ptr< EnvironmentMonitorInterface >

using	ConstPtr = std::shared_ptr< const EnvironmentMonitorInterface >

using	UPtr = std::unique_ptr< EnvironmentMonitorInterface >

using	ConstUPtr = std::unique_ptr< const EnvironmentMonitorInterface >

Public Member Functions
	EnvironmentMonitorInterface (std::string env_name)

virtual	~EnvironmentMonitorInterface ()=default

virtual bool	wait (std::chrono::duration< double > duration=std::chrono::seconds(0)) const =0
	This will wait for all namespaces to begin publishing. More...

virtual bool	waitForNamespace (const std::string &monitor_namespace, std::chrono::duration< double > duration=std::chrono::seconds(0)) const =0
	This will wait for a given namespace to begin publishing. More...

virtual void	addNamespace (std::string monitor_namespace)=0
	Add monitor namespace to interface. More...

virtual void	removeNamespace (const std::string &monitor_namespace)=0
	Remove monitor namespace from interface. More...

virtual std::vector< std::string >	applyCommand (const tesseract_environment::Command &command) const =0
	Apply provided command to all monitor namespaces. More...

virtual std::vector< std::string >	applyCommands (const tesseract_environment::Commands &commands) const =0

virtual std::vector< std::string >	applyCommands (const std::vector< tesseract_environment::Command > &commands) const =0

virtual bool	applyCommand (const std::string &monitor_namespace, const tesseract_environment::Command &command) const =0
	Apply provided command to only the provided namespace. The namespace does not have to be one that is currently stored in this class. More...

virtual bool	applyCommands (const std::string &monitor_namespace, const tesseract_environment::Commands &commands) const =0

virtual bool	applyCommands (const std::string &monitor_namespace, const std::vector< tesseract_environment::Command > &commands) const =0

virtual tesseract_scene_graph::SceneState	getEnvironmentState (const std::string &monitor_namespace) const =0
	Pull current environment state from the environment in the provided namespace. More...

virtual bool	setEnvironmentState (const std::string &monitor_namespace, const std::unordered_map< std::string, double > &joints) const =0
	Set environments state in the provided namespace. More...

virtual bool	setEnvironmentState (const std::string &monitor_namespace, const std::vector< std::string > &joint_names, const std::vector< double > &joint_values) const =0

virtual bool	setEnvironmentState (const std::string &monitor_namespace, const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values) const =0

virtual std::vector< std::string >	setEnvironmentState (const std::unordered_map< std::string, double > &joints) const =0
	Set environment state for all monitor namespaces. More...

virtual std::vector< std::string >	setEnvironmentState (const std::vector< std::string > &joint_names, const std::vector< double > &joint_values) const =0

virtual std::vector< std::string >	setEnvironmentState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values) const =0

virtual tesseract_environment::Environment::UPtr	getEnvironment (const std::string &monitor_namespace) const =0
	Pull information from the environment in the provided namespace and create a Environment Object. More...

Protected Attributes
std::string	env_name_

Member Typedef Documentation

◆ ConstPtr

using tesseract_environment::EnvironmentMonitorInterface::ConstPtr = std::shared_ptr<const EnvironmentMonitorInterface>

◆ ConstUPtr

using tesseract_environment::EnvironmentMonitorInterface::ConstUPtr = std::unique_ptr<const EnvironmentMonitorInterface>

◆ Ptr

using tesseract_environment::EnvironmentMonitorInterface::Ptr = std::shared_ptr<EnvironmentMonitorInterface>

◆ UPtr

using tesseract_environment::EnvironmentMonitorInterface::UPtr = std::unique_ptr<EnvironmentMonitorInterface>

Constructor & Destructor Documentation

◆ EnvironmentMonitorInterface()

tesseract_environment::EnvironmentMonitorInterface::EnvironmentMonitorInterface ( std::string env_name )

inline

◆ ~EnvironmentMonitorInterface()

virtual tesseract_environment::EnvironmentMonitorInterface::~EnvironmentMonitorInterface ( )

virtualdefault

Member Function Documentation

◆ addNamespace()

virtual void tesseract_environment::EnvironmentMonitorInterface::addNamespace ( std::string monitor_namespace )

pure virtual

Add monitor namespace to interface.

Parameters

monitor_namespace

◆ applyCommand() [1/2]

virtual bool tesseract_environment::EnvironmentMonitorInterface::applyCommand	(	const std::string &	monitor_namespace,
		const tesseract_environment::Command &	command
	)		const

pure virtual

Apply provided command to only the provided namespace. The namespace does not have to be one that is currently stored in this class.

Parameters

command The command to apply

Returns: True if successful, otherwise false

◆ applyCommand() [2/2]

virtual std::vector< std::string > tesseract_environment::EnvironmentMonitorInterface::applyCommand ( const tesseract_environment::Command & command ) const

pure virtual

Apply provided command to all monitor namespaces.

Parameters

command The command to apply

Returns: A vector of failed namespace, if empty all namespace were updated successfully.

◆ applyCommands() [1/4]

virtual bool tesseract_environment::EnvironmentMonitorInterface::applyCommands	(	const std::string &	monitor_namespace,
		const std::vector< tesseract_environment::Command > &	commands
	)		const

pure virtual

◆ applyCommands() [2/4]

virtual bool tesseract_environment::EnvironmentMonitorInterface::applyCommands	(	const std::string &	monitor_namespace,
		const tesseract_environment::Commands &	commands
	)		const

pure virtual

◆ applyCommands() [3/4]

virtual std::vector< std::string > tesseract_environment::EnvironmentMonitorInterface::applyCommands ( const std::vector< tesseract_environment::Command > & commands ) const

pure virtual

◆ applyCommands() [4/4]

virtual std::vector< std::string > tesseract_environment::EnvironmentMonitorInterface::applyCommands ( const tesseract_environment::Commands & commands ) const

pure virtual

◆ getEnvironment()

virtual tesseract_environment::Environment::UPtr tesseract_environment::EnvironmentMonitorInterface::getEnvironment ( const std::string & monitor_namespace ) const

pure virtual

Pull information from the environment in the provided namespace and create a Environment Object.

Parameters

monitor_namespace The namespace to extract the environment from.

Returns: Environment Shared Pointer, if nullptr it failed

◆ getEnvironmentState()

virtual tesseract_scene_graph::SceneState tesseract_environment::EnvironmentMonitorInterface::getEnvironmentState ( const std::string & monitor_namespace ) const

pure virtual

Pull current environment state from the environment in the provided namespace.

Parameters

monitor_namespace The namespace to extract the environment from.

Returns: Environment Shared Pointer, if nullptr it failed

◆ removeNamespace()

virtual void tesseract_environment::EnvironmentMonitorInterface::removeNamespace ( const std::string & monitor_namespace )

pure virtual

Remove monitor namespace from interface.

Parameters

monitor_namespace

◆ setEnvironmentState() [1/6]

virtual bool tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::string &	monitor_namespace,
		const std::unordered_map< std::string, double > &	joints
	)		const

pure virtual

Set environments state in the provided namespace.

Parameters

monitor_namespace The monitored namespace to set the state

Returns: True if successful, otherwise false

◆ setEnvironmentState() [2/6]

virtual bool tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::string &	monitor_namespace,
		const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values
	)		const

pure virtual

◆ setEnvironmentState() [3/6]

virtual bool tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::string &	monitor_namespace,
		const std::vector< std::string > &	joint_names,
		const std::vector< double > &	joint_values
	)		const

pure virtual

◆ setEnvironmentState() [4/6]

virtual std::vector< std::string > tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState ( const std::unordered_map< std::string, double > & joints ) const

pure virtual

Set environment state for all monitor namespaces.

Returns: A vector of failed namespace, if empty all namespace were updated successfully.

◆ setEnvironmentState() [5/6]

virtual std::vector< std::string > tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values
	)		const

pure virtual

◆ setEnvironmentState() [6/6]

virtual std::vector< std::string > tesseract_environment::EnvironmentMonitorInterface::setEnvironmentState	(	const std::vector< std::string > &	joint_names,
		const std::vector< double > &	joint_values
	)		const

pure virtual

◆ wait()

virtual bool tesseract_environment::EnvironmentMonitorInterface::wait ( std::chrono::duration< double > duration = std::chrono::seconds(0) ) const

pure virtual

This will wait for all namespaces to begin publishing.

Parameters

duration The number of seconds to wait before returning, if zero it waits indefinitely

Returns: True if namespace is available, otherwise false

◆ waitForNamespace()

virtual bool tesseract_environment::EnvironmentMonitorInterface::waitForNamespace	(	const std::string &	monitor_namespace,
		std::chrono::duration< double >	duration = `std::chrono::seconds(0)`
	)		const

pure virtual

This will wait for a given namespace to begin publishing.

Parameters

monitor_namespace	The namespace to wait for
duration	The number of seconds to wait before returning, if zero it waits indefinitely

Returns: True if namespace is available, otherwise false

Member Data Documentation

◆ env_name_

std::string tesseract_environment::EnvironmentMonitorInterface::env_name_

protected

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

tesseract_environment/include/tesseract_environment/environment_monitor_interface.h

Public Types

Public Member Functions

Protected Attributes

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ EnvironmentMonitorInterface()

◆ ~EnvironmentMonitorInterface()

Member Function Documentation

◆ addNamespace()

◆ applyCommand() [1/2]

◆ applyCommand() [2/2]

◆ applyCommands() [1/4]

◆ applyCommands() [2/4]

◆ applyCommands() [3/4]

◆ applyCommands() [4/4]

◆ getEnvironment()

◆ getEnvironmentState()

◆ removeNamespace()

◆ setEnvironmentState() [1/6]

◆ setEnvironmentState() [2/6]

◆ setEnvironmentState() [3/6]

◆ setEnvironmentState() [4/6]

◆ setEnvironmentState() [5/6]

◆ setEnvironmentState() [6/6]

◆ wait()

◆ waitForNamespace()

Member Data Documentation

◆ env_name_