Namespaces
	db

	fetch

	manipulation

	perception

	pr2

	sound

	utils

	viz

Classes
class	MoveItPlanningScene
	Simple interface to the MoveIt planning scene monitor. More...

class	PointCloudCameraInterface
	Interface for a camera that outputs point clouds. More...

class	JointStateReader
	Tracks the latest joint states. More...

class	PointCloudCamera
	Gets point cloud and camera pose. More...

class	RecordedPointCloudCamera
	A simulated camera that loads data from a bag file. More...

class	RosoutTestHelper

class	Degrees
	Type for angles measured in degrees. More...

class	Radians
	Type for angles measured in radians. More...

class	DragBoxMarker
	An interactive marker for a box with draggable sides. More...

Typedefs
typedef pcl::PointXYZ	PointP

typedef pcl::PointXYZRGB	PointC

typedef pcl::PointCloud < pcl::PointXYZ >	PointCloudP

typedef pcl::PointCloud < pcl::PointXYZRGB >	PointCloudC

Functions
bool	AreObbsInCollision (const geometry_msgs::Pose &pose1, const geometry_msgs::Vector3 &scale1, const geometry_msgs::Pose &pose2, const geometry_msgs::Vector3 &scale2)
	Returns true if the given oriented bounding boxes are colliding. More...

fcl::OBB	BoxToOBB (const geometry_msgs::Pose &pose, const geometry_msgs::Vector3 &scale)
	Returns an fcl::OBB from a Pose and Vector3 message. More...

bool	IsSuccess (const moveit::planning_interface::MoveItErrorCode &error_code)
	Returns true if the error code corresponds to success. More...

bool	IsSuccess (const moveit_msgs::MoveItErrorCodes &error_code)
	Returns true if the error code corresponds to success. More...

std::string	ErrorString (const moveit::planning_interface::MoveItErrorCode &error_code)
	Returns a string describing the given MoveIt error code. More...

std::string	ErrorString (const moveit_msgs::MoveItErrorCodes &error_code)
	Returns a string describing the given MoveIt error code. More...

std::string	GetStringParamOrThrow (const std::string &name)
	Gets a string from the parameter server. More...

double	GetDoubleParamOrThrow (const std::string &name)
	Gets a double from the parameter server. More...

float	GetFloatParamOrThrow (const std::string &name)
	Gets a float from the parameter server. More...

int	GetIntParamOrThrow (const std::string &name)
	Gets an int from the parameter server. More...

bool	GetBoolParamOrThrow (const std::string &name)
	Gets a bool from the parameter server. More...

XmlRpc::XmlRpcValue	GetXmlRpcParamOrThrow (const std::string &name)
	Gets an XML-RPC value from the parameter server. More...

std::vector< std::string >	GetStringVectorParamOrThrow (const std::string &name)
	Gets a vector of strings from the parameter server. More...

std::vector< double >	GetDoubleVectorParamOrThrow (const std::string &name)
	Gets a vector of doubles from the parameter server. More...

std::vector< float >	GetFloatVectorParamOrThrow (const std::string &name)
	Gets a vector of floats from the parameter server. More...

std::vector< int >	GetIntVectorParamOrThrow (const std::string &name)
	Gets a vector of ints from the parameter server. More...

std::vector< bool >	GetBoolVectorParamOrThrow (const std::string &name)
	Gets a vector of bools from the parameter server. More...

std::map< std::string, std::string >	GetStringMapParamOrThrow (const std::string &name)
	Gets a map from strings to string from the parameter server. More...

std::map< std::string, double >	GetDoubleMapParamOrThrow (const std::string &name)
	Gets a map from strings to doubles from the parameter server. More...

std::map< std::string, float >	GetFloatMapParamOrThrow (const std::string &name)
	Gets a map from strings to floats from the parameter server. More...

std::map< std::string, int >	GetIntMapParamOrThrow (const std::string &name)
	Gets a map from strings to ints from the parameter server. More...

std::map< std::string, bool >	GetBoolMapParamOrThrow (const std::string &name)
	Gets a map from strings to bools from the parameter server. More...

void	WaitForTime ()
	Wait for simulated time to begin. More...

template<typename T >
void	get_xyz (const T &value, double x, double y, double *z)

template<>
void	get_xyz (const Eigen::Vector3f &value, double x, double y, double *z)

template<>
void	get_xyz (const Eigen::Vector3d &value, double x, double y, double *z)

template<>
void	get_xyz (const geometry_msgs::Point &value, double x, double y, double *z)

template<>
void	get_xyz (const geometry_msgs::Vector3 &value, double x, double y, double *z)

template<>
void	get_xyz (const pcl::PointXYZ &value, double x, double y, double *z)

template<>
void	get_xyz (const pcl::PointXYZRGB &value, double x, double y, double *z)

template<>
void	get_xyz (const pcl::Normal &value, double x, double y, double *z)

template<typename T >
Eigen::Vector3d	AsVector3d (const T &value)
	Function to get the XYZ value from common ROS types. More...

visualization_msgs::MarkerArray	AxesMarkerArray (const std::string &ns, const std::string &frame_id, const geometry_msgs::Pose &pose, double scale)
	Generates an x/y/z axis marker given a pose. More...

std::vector < visualization_msgs::InteractiveMarkerControl >	FixedOrientationSixDofControls ()
	Generates 6 DOF controls with fixed orientations. More...

std::vector < visualization_msgs::InteractiveMarkerControl >	FreeOrientationSixDofControls ()
	Generates 6 DOF controls with changeable orientations. More...

std::vector < visualization_msgs::InteractiveMarkerControl >	SixDofControls (uint8_t orientation_mode)
	(Somewhat internal). Generates a 6 DOF controls. More...

Typedef Documentation

typedef pcl::PointXYZRGB rapid::PointC

Definition at line 12 of file pcl_typedefs.h.

typedef pcl::PointCloud<pcl::PointXYZRGB> rapid::PointCloudC

Definition at line 14 of file pcl_typedefs.h.

typedef pcl::PointCloud<pcl::PointXYZ> rapid::PointCloudP

Definition at line 13 of file pcl_typedefs.h.

typedef pcl::PointXYZ rapid::PointP

Definition at line 11 of file pcl_typedefs.h.

Function Documentation

bool rapid::AreObbsInCollision	(	const geometry_msgs::Pose &	pose1,
		const geometry_msgs::Vector3 &	scale1,
		const geometry_msgs::Pose &	pose2,
		const geometry_msgs::Vector3 &	scale2
	)

Returns true if the given oriented bounding boxes are colliding.

The poses must be in the same frame and the scales must be in the same units.

Parameters

[in]	pose1	The pose of the first box.
[in]	scale1	The x/y/z dimensions of the first box.
[in]	pose2	The pose of the second box.
[in]	scale2	The x/y/z dimensions of the second box.

Returns: true if the given oriented bounding boxes are colliding, false otherwise.

template<typename T >

Eigen::Vector3d rapid::AsVector3d ( const T & value )

Function to get the XYZ value from common ROS types.

These include:

geometry_msgs: Point and Vector3
pcl: PointXYZ, PointXYZRGB, Normal See rapid_utils/vector3.hpp for the full list of types.

You can define your own template specialization of get_xyz for this to work with other types.

Parameters

[in] value A "vector3"-like object, see description above.

Exceptions

std::invalid_argument if the type is not supported.

Returns: An Eigen::Vector3d.

Definition at line 79 of file vector3.hpp.

visualization_msgs::MarkerArray rapid::AxesMarkerArray	(	const std::string &	ns,
		const std::string &	frame_id,
		const geometry_msgs::Pose &	pose,
		double	scale
	)

Generates an x/y/z axis marker given a pose.

The x-axis is red, y is green, z is blue.

Example usage:

#include "rapid_viz/axes_markers.h"
visualization_msgs::MarkerArray axes_markers =
  rapid::AxesMarkers("markers", "base_link", pose, 0.1);

Parameters

[in]	ns	The namespace for the markers.
[in]	frame_id	The frame_id of the pose to visualize.
[in]	pose	The pose to visualize.
[in]	scale	The length of each colored cylinder bar. The cylinder diameters are 10% of scale.

Returns: The axes markers.

fcl::OBB rapid::BoxToOBB	(	const geometry_msgs::Pose &	pose,
		const geometry_msgs::Vector3 &	scale
	)

Returns an fcl::OBB from a Pose and Vector3 message.

Note: The OBB documentation says that the X axis of the rotation matrix "is assumed" to point in the direction of the longest dimension (and Z points towards the shortest). This function does not do so, but collision checking still seems to work.

Returns: The fcl::OBB

std::string rapid::ErrorString ( const moveit::planning_interface::MoveItErrorCode & error_code )

Returns a string describing the given MoveIt error code.

Parameters

[in] error_code The MoveItErrorCode

Returns: A string corresponding to the name of the code in moveit_msgs::MoveItErrorCodes.

std::string rapid::ErrorString ( const moveit_msgs::MoveItErrorCodes & error_code )

Returns a string describing the given MoveIt error code.

Parameters

[in] error_code The MoveItErrorCode

Returns: A string corresponding to the name of the code in moveit_msgs::MoveItErrorCodes.

std::vector<visualization_msgs::InteractiveMarkerControl> rapid::FixedOrientationSixDofControls ( )

Generates 6 DOF controls with fixed orientations.

A fixed orientation means that as the user rotates the interactive marker, the direction of the controls stay fixed at their initial orientations.

Note that the scale of the controls is determined by the scale field of your interactive marker.

Returns: A list of InteractiveMarkerControls. These can be appended to an InteractiveMarker to make it draggable and rotatable.

std::vector<visualization_msgs::InteractiveMarkerControl> rapid::FreeOrientationSixDofControls ( )

Generates 6 DOF controls with changeable orientations.

A "free" orientation means that as the user rotates the interactive marker, the controls move along with the marker.

Note that the scale of the controls is determined by the scale field of your interactive marker.

Returns: A list of InteractiveMarkerControls. These can be appended to an InteractiveMarker to make it draggable and rotatable.

template<typename T >

void rapid::get_xyz	(	const T &	value,
		double *	x,
		double *	y,
		double *	z
	)

Definition at line 10 of file vector3.hpp.

template<>

void rapid::get_xyz	(	const Eigen::Vector3f &	value,
		double *	x,
		double *	y,
		double *	z
	)

Definition at line 15 of file vector3.hpp.

template<>

void rapid::get_xyz	(	const Eigen::Vector3d &	value,
		double *	x,
		double *	y,
		double *	z
	)

Definition at line 22 of file vector3.hpp.

template<>

void rapid::get_xyz	(	const geometry_msgs::Point &	value,
		double *	x,
		double *	y,
		double *	z
	)

Definition at line 29 of file vector3.hpp.

template<>

void rapid::get_xyz	(	const geometry_msgs::Vector3 &	value,
		double *	x,
		double *	y,
		double *	z
	)

Definition at line 37 of file vector3.hpp.

template<>

void rapid::get_xyz	(	const pcl::PointXYZ &	value,
		double *	x,
		double *	y,
		double *	z
	)

Definition at line 45 of file vector3.hpp.

template<>

void rapid::get_xyz	(	const pcl::PointXYZRGB &	value,
		double *	x,
		double *	y,
		double *	z
	)

Definition at line 52 of file vector3.hpp.

template<>

void rapid::get_xyz	(	const pcl::Normal &	value,
		double *	x,
		double *	y,
		double *	z
	)

Definition at line 59 of file vector3.hpp.

std::map<std::string, bool> rapid::GetBoolMapParamOrThrow ( const std::string & name )

Gets a map from strings to bools from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The map from strings to bools

Exceptions

std::runtime_error if the parameter does not exist.

bool rapid::GetBoolParamOrThrow ( const std::string & name )

Gets a bool from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The bool parameter

Exceptions

std::runtime_error if the parameter does not exist.

std::vector<bool> rapid::GetBoolVectorParamOrThrow ( const std::string & name )

Gets a vector of bools from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The vector of bools

Exceptions

std::runtime_error if the parameter does not exist.

std::map<std::string, double> rapid::GetDoubleMapParamOrThrow ( const std::string & name )

Gets a map from strings to doubles from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The map from strings to doubles

Exceptions

std::runtime_error if the parameter does not exist.

double rapid::GetDoubleParamOrThrow ( const std::string & name )

Gets a double from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The double parameter

Exceptions

std::runtime_error if the parameter does not exist.

std::vector<double> rapid::GetDoubleVectorParamOrThrow ( const std::string & name )

Gets a vector of doubles from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The vector of doubles

Exceptions

std::runtime_error if the parameter does not exist.

std::map<std::string, float> rapid::GetFloatMapParamOrThrow ( const std::string & name )

Gets a map from strings to floats from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The map from strings to floats

Exceptions

std::runtime_error if the parameter does not exist.

float rapid::GetFloatParamOrThrow ( const std::string & name )

Gets a float from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The float parameter

Exceptions

std::runtime_error if the parameter does not exist.

std::vector<float> rapid::GetFloatVectorParamOrThrow ( const std::string & name )

Gets a vector of floats from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The vector of floats

Exceptions

std::runtime_error if the parameter does not exist.

std::map<std::string, int> rapid::GetIntMapParamOrThrow ( const std::string & name )

Gets a map from strings to ints from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The map from strings to ints

Exceptions

std::runtime_error if the parameter does not exist.

int rapid::GetIntParamOrThrow ( const std::string & name )

Gets an int from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The int parameter

Exceptions

std::runtime_error if the parameter does not exist.

std::vector<int> rapid::GetIntVectorParamOrThrow ( const std::string & name )

Gets a vector of ints from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The vector of ints

Exceptions

std::runtime_error if the parameter does not exist.

std::map<std::string, std::string> rapid::GetStringMapParamOrThrow ( const std::string & name )

Gets a map from strings to string from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The map from strings to strings

Exceptions

std::runtime_error if the parameter does not exist.

std::string rapid::GetStringParamOrThrow ( const std::string & name )

Gets a string from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The string parameter

Exceptions

std::runtime_error if the parameter does not exist.

std::vector<std::string> rapid::GetStringVectorParamOrThrow ( const std::string & name )

Gets a vector of strings from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The vector of strings

Exceptions

std::runtime_error if the parameter does not exist.

XmlRpc::XmlRpcValue rapid::GetXmlRpcParamOrThrow ( const std::string & name )

Gets an XML-RPC value from the parameter server.

Parameters

[in] name The name of the parameter in the current node's namespace.

Returns: The XML-RPC value

Exceptions

std::runtime_error if the parameter does not exist.

bool rapid::IsSuccess ( const moveit::planning_interface::MoveItErrorCode & error_code )

Returns true if the error code corresponds to success.

You can already use a MoveItErrorCode as a bool, but it can lead to unintuitive code (true is success).

MoveItErrorCode error = group.plan(...);
if (error) {
  // This actually corresponds to success!
}

Instead:

MoveItErrorCode error = group.plan(...);
if (rapid::IsSuccess(error)) {
  // More intuitive
}

Parameters

[in] error_code The MoveItErrorCode

Returns: True if the error code is success, false otherwise.

bool rapid::IsSuccess ( const moveit_msgs::MoveItErrorCodes & error_code )

Returns true if the error code corresponds to success.

Parameters

[in] error_code The MoveItErrorCode

Returns: True if the error code is success, false otherwise.

std::vector<visualization_msgs::InteractiveMarkerControl> rapid::SixDofControls ( uint8_t orientation_mode )

(Somewhat internal). Generates a 6 DOF controls.

For clarity, use either FixedOrientationSixDofControls() or FreeOrientationSixDofControls().

Note that the scale of the controls is determined by the scale field of your interactive marker.

Returns: A list of InteractiveMarkerControls. These can be appended to an InteractiveMarker to make it draggable and rotatable.

void rapid::WaitForTime ( )

Wait for simulated time to begin.

Blocks until the current time is non-zero.

Namespaces

Classes

Typedefs

Functions

Typedef Documentation

Function Documentation