Tesseract Environment Monitor Interface Class. More...

#include <environment_monitor.h>

Collaboration diagram for tesseract_environment::EnvironmentMonitor:

[legend]

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

using	ConstPtr = std::shared_ptr< const EnvironmentMonitor >

using	UPtr = std::unique_ptr< EnvironmentMonitor >

using	ConstUPtr = std::unique_ptr< const EnvironmentMonitor >

Public Member Functions
	EnvironmentMonitor (std::string monitor_namespace)
	Constructor. More...

	EnvironmentMonitor (tesseract_environment::Environment::Ptr env, std::string monitor_namespace)
	Constructor. More...

virtual	~EnvironmentMonitor ()=default

virtual const std::string &	getNamespace () const
	Get the namespace of this monitor. More...

virtual tesseract_environment::Environment &	environment ()
	Returns an threadsafe reference to the current environment. More...

virtual const tesseract_environment::Environment &	environment () const
	Returns an threadsafe const reference to the current environment. More...

virtual tesseract_environment::Environment::Ptr	getEnvironment ()
	Returns an threadsafe shared pointer to the current environment. More...

virtual tesseract_environment::Environment::ConstPtr	getEnvironment () const
	Returns an threadsafe const shared point to the current environment. More...

virtual bool	waitForConnection (std::chrono::duration< double > duration=std::chrono::seconds(0)) const =0
	Wait for connection to upstream environment. More...

virtual void	startPublishingEnvironment ()=0
	Start publishing the maintained environment. More...

virtual void	stopPublishingEnvironment ()=0
	Stop publishing the maintained environment. More...

virtual void	setEnvironmentPublishingFrequency (double hz)=0
	Set the maximum frequency at which environment are being published. More...

virtual double	getEnvironmentPublishingFrequency () const =0
	Get the maximum frequency at which environment are published (Hz) More...

virtual void	startStateMonitor (const std::string &joint_states_topic, bool publish_tf=true)=0
	Start the current state monitor. More...

virtual void	stopStateMonitor ()=0
	Stop the state monitor. More...

virtual void	setStateUpdateFrequency (double hz=10)=0
	Update the scene using the monitored state at a specified frequency, in Hz. This function has an effect only when updates from the CurrentStateMonitor are received at a higher frequency. In that case, the updates are throttled down, so that they do not exceed a maximum update frequency specified here. More...

virtual double	getStateUpdateFrequency () const =0
	Get the maximum frequency (Hz) at which the current state of the planning scene is updated. More...

virtual void	updateEnvironmentWithCurrentState ()=0
	Update the scene using the monitored state. This function is automatically called when an update to the current state is received (if startStateMonitor() has been called). The updates are throttled to a maximum update frequency however, which is set by setStateUpdateFrequency(). More...

virtual void	startMonitoringEnvironment (const std::string &monitored_namespace, MonitoredEnvironmentMode mode=MonitoredEnvironmentMode::DEFAULT)=0
	Start the monitoring of an environment topic. More...

virtual void	stopMonitoringEnvironment ()=0
	Stop monitoring the external environment. More...

virtual bool	waitForCurrentState (std::chrono::duration< double > duration=std::chrono::seconds(1))=0
	Wait for robot state to become more recent than time t. More...

virtual void	shutdown ()=0
	Shutdown advertised services. More...

Protected Attributes
tesseract_environment::Environment::Ptr	env_

std::string	monitor_namespace_

MonitoredEnvironmentMode	mode_ { MonitoredEnvironmentMode::DEFAULT }

Detailed Description

Tesseract Environment Monitor Interface Class.

Member Typedef Documentation

◆ ConstPtr

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

◆ ConstUPtr

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

◆ Ptr

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

◆ UPtr

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

Constructor & Destructor Documentation

◆ EnvironmentMonitor() [1/2]

tesseract_environment::EnvironmentMonitor::EnvironmentMonitor ( std::string monitor_namespace )

inline

Constructor.

Parameters

monitor_namespace A name identifying this monitor, must be unique

◆ EnvironmentMonitor() [2/2]

tesseract_environment::EnvironmentMonitor::EnvironmentMonitor	(	tesseract_environment::Environment::Ptr	env,
		std::string	monitor_namespace
	)

inline

Constructor.

Parameters

env	The environment to use internal to the monitor
monitor_namespace	A name identifying this monitor, must be unique

◆ ~EnvironmentMonitor()

virtual tesseract_environment::EnvironmentMonitor::~EnvironmentMonitor ( )

virtualdefault

Member Function Documentation

◆ environment() [1/2]

virtual tesseract_environment::Environment & tesseract_environment::EnvironmentMonitor::environment ( )

inlinevirtual

Returns an threadsafe reference to the current environment.

Modification should only be made if this monitor is the master. If this is monitoring another environment the local changes will get removed on the next update cycle. Recommend using the TesseractMonitorInterface to apply commands to the monitored environment until the todo below is implemented.

Returns: The current environment.

◆ environment() [2/2]

virtual const tesseract_environment::Environment & tesseract_environment::EnvironmentMonitor::environment ( ) const

inlinevirtual

Returns an threadsafe const reference to the current environment.

Returns: The current environment.

◆ getEnvironment() [1/2]

virtual tesseract_environment::Environment::Ptr tesseract_environment::EnvironmentMonitor::getEnvironment ( )

inlinevirtual

Returns an threadsafe shared pointer to the current environment.

Modification should only be made if this monitor is the master. If this is monitoring another environment the local changes will get removed on the next update cycle. Recommend using the TesseractMonitorInterface to apply commands to the monitored environment until the todo below is implemented.

Returns: The current environment.

◆ getEnvironment() [2/2]

virtual tesseract_environment::Environment::ConstPtr tesseract_environment::EnvironmentMonitor::getEnvironment ( ) const

inlinevirtual

Returns an threadsafe const shared point to the current environment.

Returns: The current environment.

◆ getEnvironmentPublishingFrequency()

virtual double tesseract_environment::EnvironmentMonitor::getEnvironmentPublishingFrequency ( ) const

pure virtual

Get the maximum frequency at which environment are published (Hz)

◆ getNamespace()

virtual const std::string & tesseract_environment::EnvironmentMonitor::getNamespace ( ) const

inlinevirtual

Get the namespace of this monitor.

◆ getStateUpdateFrequency()

virtual double tesseract_environment::EnvironmentMonitor::getStateUpdateFrequency ( ) const

pure virtual

Get the maximum frequency (Hz) at which the current state of the planning scene is updated.

◆ setEnvironmentPublishingFrequency()

virtual void tesseract_environment::EnvironmentMonitor::setEnvironmentPublishingFrequency ( double hz )

pure virtual

Set the maximum frequency at which environment are being published.

◆ setStateUpdateFrequency()

virtual void tesseract_environment::EnvironmentMonitor::setStateUpdateFrequency ( double hz = 10 )

pure virtual

Update the scene using the monitored state at a specified frequency, in Hz. This function has an effect only when updates from the CurrentStateMonitor are received at a higher frequency. In that case, the updates are throttled down, so that they do not exceed a maximum update frequency specified here.

Parameters

hz	the update frequency. By default this is 10Hz.

◆ shutdown()

virtual void tesseract_environment::EnvironmentMonitor::shutdown ( )

pure virtual

Shutdown advertised services.

◆ startMonitoringEnvironment()

virtual void tesseract_environment::EnvironmentMonitor::startMonitoringEnvironment	(	const std::string &	monitored_namespace,
		MonitoredEnvironmentMode	mode = `MonitoredEnvironmentMode::DEFAULT`
	)

pure virtual

Start the monitoring of an environment topic.

Parameters

monitored_namespace The namespace of the environment to monitor

◆ startPublishingEnvironment()

virtual void tesseract_environment::EnvironmentMonitor::startPublishingEnvironment ( )

pure virtual

Start publishing the maintained environment.

◆ startStateMonitor()

virtual void tesseract_environment::EnvironmentMonitor::startStateMonitor	(	const std::string &	joint_states_topic,
		bool	publish_tf = `true`
	)

pure virtual

Start the current state monitor.

Parameters

joint_states_topic	the topic to listen to for joint states
publish_tf	If true, TFs will be published for each joint. Default: true

◆ stopMonitoringEnvironment()

virtual void tesseract_environment::EnvironmentMonitor::stopMonitoringEnvironment ( )

pure virtual

Stop monitoring the external environment.

◆ stopPublishingEnvironment()

virtual void tesseract_environment::EnvironmentMonitor::stopPublishingEnvironment ( )

pure virtual

Stop publishing the maintained environment.

◆ stopStateMonitor()

virtual void tesseract_environment::EnvironmentMonitor::stopStateMonitor ( )

pure virtual

Stop the state monitor.

◆ updateEnvironmentWithCurrentState()

virtual void tesseract_environment::EnvironmentMonitor::updateEnvironmentWithCurrentState ( )

pure virtual

Update the scene using the monitored state. This function is automatically called when an update to the current state is received (if startStateMonitor() has been called). The updates are throttled to a maximum update frequency however, which is set by setStateUpdateFrequency().

◆ waitForConnection()

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

pure virtual

Wait for connection to upstream environment.

Parameters

duration The time to wait in seconds before returning, if zero it waits indefinitely

Returns: True if it has connected to upstream environment, otherwise false

◆ waitForCurrentState()

virtual bool tesseract_environment::EnvironmentMonitor::waitForCurrentState ( std::chrono::duration< double > duration = std::chrono::seconds(1) )

pure virtual

Wait for robot state to become more recent than time t.

Parameters

duration The time to wait in seconds

If there is no state monitor active, there will be no scene updates. Hence, you can specify a timeout to wait for those updates. Default is 1s.

Member Data Documentation

◆ env_

tesseract_environment::Environment::Ptr tesseract_environment::EnvironmentMonitor::env_

protected

◆ mode_

MonitoredEnvironmentMode tesseract_environment::EnvironmentMonitor::mode_ { MonitoredEnvironmentMode::DEFAULT }

protected

◆ monitor_namespace_

std::string tesseract_environment::EnvironmentMonitor::monitor_namespace_

protected

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

tesseract_environment/include/tesseract_environment/environment_monitor.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ EnvironmentMonitor() [1/2]

◆ EnvironmentMonitor() [2/2]

◆ ~EnvironmentMonitor()

Member Function Documentation

◆ environment() [1/2]

◆ environment() [2/2]

◆ getEnvironment() [1/2]

◆ getEnvironment() [2/2]

◆ getEnvironmentPublishingFrequency()

◆ getNamespace()

◆ getStateUpdateFrequency()

◆ setEnvironmentPublishingFrequency()

◆ setStateUpdateFrequency()

◆ shutdown()

◆ startMonitoringEnvironment()

◆ startPublishingEnvironment()

◆ startStateMonitor()

◆ stopMonitoringEnvironment()

◆ stopPublishingEnvironment()

◆ stopStateMonitor()

◆ updateEnvironmentWithCurrentState()

◆ waitForConnection()

◆ waitForCurrentState()

Member Data Documentation

◆ env_

◆ mode_

◆ monitor_namespace_