The SceneManager class provide interface between ROS and the move3d scene and project. Use it to start libmove3d and place the robots and objects in the environment. More...

#include <scenemanager.h>

Public Types
typedef std::map< std::string, std::string >	NameMap_t

typedef std::map< uint, uint >	UintMap_t

typedef std::map< std::string, NameMap_t >	JointCorrespName_t

typedef std::map< std::string, UintMap_t >	JointCorrespIndex_t

Public Member Functions
	SceneManager (ros::NodeHandle *nh)
	default constructor More...

	SceneManager (ros::NodeHandle *nh, const std::string &p3d_path)
	SceneManager. More...

bool	addModule (const std::string &name)
	add a move3d module to be initialized More...

bool	createScene ()
	create the move3d scene and project. More...

bool	updateRobotPose (const std::string &name, const geometry_msgs::Pose &base_pose)
	update the base pose of a robot (any moveable obect). More...

bool	updateRobot (const std::string &name, const geometry_msgs::Pose &base_pose, const std::vector< double > &dof_values)
	update a robot configuration (any moveable object). More...

bool	updateRobotM3d (const std::string &name, std::vector< double > &dof_values)
	update a robot configuration (any moveable object). More...

bool	updateObject (const std::string &name, const geometry_msgs::Pose &pose)
	as updateRobotPose(string,Pose)

bool	updateHuman (const std::string &name, const geometry_msgs::Pose &base_pose, const std::map< std::string, geometry_msgs::Pose > &joints)
	updatea human position More...

void	setDofCorresp (const std::string &robot_name, const std::map< std::string, std::string > &ros_to_move3d_map)
	set the matching of ROS DoF names and move3d ones. More...

bool	setDofNameOrdered (const std::string &robot_name, const std::vector< std::string > &dof_names)
	set the DoF order as it will be when calling any updateRobot method. More...

bool	fetchDofCorrespParam (const std::string &param_name, const std::string &robot_name)
	retrieve map of joint/dof correspondances More...

bool	fetchDofCorrespParam (const std::string &base_param_name)
	retrieve map of joint/dof correspondances for all robots More...

bool	convertConfRosToM3d (const std::string &robot_name, const std::vector< double > &ros_conf, std::vector< double > &m3d_conf)
	convert a configuration from ROS to move3d. Only changes joint order, and remove joints that do not exist in Move3d. More...

std::string	p3dPath () const
	get the path to the p3d file. More...

void	setP3dPath (const std::string &p3dPath)
	set the path to the p3d file used to describe the environment and its robots and objects. More...

std::string	scePath () const

void	setScePath (const std::string &scePath)
	set the path to a sce file to load on startup More...

bool	saveScenario (const std::string &path)
	save the scenario, ie. the positions and configurations of all objects and robots More...

Eigen::Affine3d	getFrameTransform () const

void	setFrameTransform (const Eigen::Affine3d &frame_change)

bool	updateAcceptBaseOnly () const
	updateAcceptBaseOnly indicates the possibility to consider only the base position of an agent. More...

void	setUpdateAcceptBaseOnly (bool updateAcceptBaseOnly)
	setUpdateAcceptBaseOnly More...

Project *	project () const
	get the move3d project object More...

void	setProject (Project *project)
	set a project instead of creating it with createScene More...

ros::NodeHandle *	nh () const
	get the node handle

void	setNh (ros::NodeHandle *nh)
	set the node handle

Detailed Description

The SceneManager class provide interface between ROS and the move3d scene and project. Use it to start libmove3d and place the robots and objects in the environment.

Constructor & Destructor Documentation

move3d::SceneManager::SceneManager ( ros::NodeHandle * nh )

default constructor

Parameters

nh

move3d::SceneManager::SceneManager	(	ros::NodeHandle *	nh,
		const std::string &	p3d_path
	)

SceneManager.

Parameters

nh
p3d_path

Member Function Documentation

bool move3d::SceneManager::addModule ( const std::string & name )

add a move3d module to be initialized

Parameters

name	name of the module

Returns: true on success, false otherwise.

The project must be NOT initialized, otherwise does nothing and return false. So you need to call this BEFORE calling createScene()

bool move3d::SceneManager::convertConfRosToM3d	(	const std::string &	robot_name,
		const std::vector< double > &	ros_conf,
		std::vector< double > &	m3d_conf
	)

convert a configuration from ROS to move3d. Only changes joint order, and remove joints that do not exist in Move3d.

Parameters

[in]	robot_name
[in]	ros_conf
[out]	m3d_conf

Returns: false on error

bool move3d::SceneManager::createScene ( )

create the move3d scene and project.

Returns: false on error

A path to a p3d file must be given in the constructor or with setP3dPath(). To add a module, you need to call addModule() before createScene(). This is required in order to use most of the components of move3d.

See Also: setProject allows to set a already initialized project

bool move3d::SceneManager::fetchDofCorrespParam	(	const std::string &	param_name,
		const std::string &	robot_name
	)

retrieve map of joint/dof correspondances

Parameters

param_name	where the dictionnary is located in the ROS parameter server
robot_name	the (complete) name of the robot in move3d

Returns: false if the project is not correctly initialized. Empty or non-existent map is ok.

The dictionnary in ROS parameters have the form:

param_name : {
     ros_joint_name: move3d_joint_name,
}

So as an example, you could put in a .yaml file to load:

---
move3d:
dof_name_corresp: {
   PR2_ROBOT: {
     torso_lift_link: Torso,
     head_pan_link: pan_cam,
     head_tilt_link: tilt_cam,
     ...
   }
 }

bool move3d::SceneManager::fetchDofCorrespParam ( const std::string & base_param_name )

retrieve map of joint/dof correspondances for all robots

Parameters

base_param_name where the dictionnaries are located in the ROS parameter server

Returns: false if the project is not correctly initialized. Empty or non-existent map is ok.

For each robot agent in the scenes, it tries to find a dictionnary of joint names correspondances under base_param_name/<robot_type>, and if not found, under base_param_name/<robot_name>.

See Also: SceneManager::fetchDofCorrespParam(const std::string&, const std::string&)

Eigen::Affine3d move3d::SceneManager::getFrameTransform ( ) const

Todo:: not implemented

std::string move3d::SceneManager::p3dPath ( ) const

get the path to the p3d file.

Returns: the path

Project * move3d::SceneManager::project ( ) const

get the move3d project object

Returns

bool move3d::SceneManager::saveScenario ( const std::string & path )

save the scenario, ie. the positions and configurations of all objects and robots

Parameters

path	the path where to save the scenario

Returns: true on success The created scenario (.sce) is compatible with any move3d instance, as move3d-studio.

std::string move3d::SceneManager::scePath ( ) const

See Also: setScePath

void move3d::SceneManager::setDofCorresp	(	const std::string &	robot_name,
		const std::map< std::string, std::string > &	ros_to_move3d_map
	)

set the matching of ROS DoF names and move3d ones.

Parameters

robot_name	the name of the robot
ros_to_move3d_map	keys are the name of the joints in ROS, values are the corresponding names in move3d.

bool move3d::SceneManager::setDofNameOrdered	(	const std::string &	robot_name,
		const std::vector< std::string > &	dof_names
	)

set the DoF order as it will be when calling any updateRobot method.

Parameters

robot_name	the name of the robot
dof_names	the vector of dof names that will be given to updateRobot for that robot

Returns: This allows the updateRobot methods to avoid parsing strings at every call. It is required to call this method after setDofCorresp and BEFORE any call to updateRobot() with the same robot_name.

void move3d::SceneManager::setFrameTransform ( const Eigen::Affine3d & frame_change )

Todo:: not implemented

void move3d::SceneManager::setP3dPath ( const std::string & p3dPath )

set the path to the p3d file used to describe the environment and its robots and objects.

Parameters

p3dPath the path prefer absolute paths or ROS package:// url

void move3d::SceneManager::setProject ( Project * project )

set a project instead of creating it with createScene

Parameters

project a move3d project

See Also: createScene handles the creation of the project

void move3d::SceneManager::setScePath ( const std::string & scePath )

set the path to a sce file to load on startup

Parameters

scePath the path prefer absolute paths or ROS package:// url

void move3d::SceneManager::setUpdateAcceptBaseOnly ( bool updateAcceptBaseOnly )

setUpdateAcceptBaseOnly

Parameters

updateAcceptBaseOnly

See Also: updateAcceptBaseOnly()

bool move3d::SceneManager::updateAcceptBaseOnly ( ) const

updateAcceptBaseOnly indicates the possibility to consider only the base position of an agent.

Returns

When True, calls to updateRobot with empty dof_values will result in the same as calling updateRobotPose. Otherwise the robot is not updated.

See Also: setUpdateAcceptBaseOnly()

bool move3d::SceneManager::updateHuman	(	const std::string &	name,
		const geometry_msgs::Pose &	base_pose,
		const std::map< std::string, geometry_msgs::Pose > &	joints
	)

updatea human position

Parameters

name	name of the human in ROS
base_pose	position of the base joint of the human
joints	other joint positions (not configuration) in an absolute frame

Returns: false if the human is not found in the HumanMgr settings or in the move3d scene, or if the configuration cannot be computed

See Also: HumanMgr

bool move3d::SceneManager::updateRobot	(	const std::string &	name,
		const geometry_msgs::Pose &	base_pose,
		const std::vector< double > &	dof_values
	)

update a robot configuration (any moveable object).

Parameters

name	name of the robot to place
base_pose	the base pose (pose of the 1st joint)
dof_values	values of the other degrees of freedom (ordered as in ROS)

Returns: false on error

bool move3d::SceneManager::updateRobotM3d	(	const std::string &	name,
		std::vector< double > &	dof_values
	)

update a robot configuration (any moveable object).

Parameters

name	name of the robot to place
dof_values	value of all the degrees of freedom (ordered as in move3d)

Returns: The position of the 1st joint is specified as the first 6 DoFs of the vector: (x,y,z,rx,ry,rz)

bool move3d::SceneManager::updateRobotPose	(	const std::string &	name,
		const geometry_msgs::Pose &	base_pose
	)

update the base pose of a robot (any moveable obect).

Parameters

name	name of the robot/object
base_pose	the pose where to place the robot

Returns: false on error (robot does not exist,...)

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

include/move3d_ros_lib/scenemanager.h
src/scenemanager.cpp

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation