Public Member Functions
bool	attachObject (const std::string &object, const std::string &link, const std::vector< std::string > &touch_links)

void	clearMaxCartesianLinkSpeed ()

void	clearPathConstraints ()

void	clearPoseTarget (const std::string &end_effector_link)

void	clearPoseTargets ()

void	clearTrajectoryConstraints ()

double	computeCartesianPath (const std::vector< geometry_msgs::Pose > &waypoints, double step, double jump_threshold, moveit_msgs::RobotTrajectory &msg, const moveit_msgs::Constraints &path_constraints, bool avoid_collisions, moveit_msgs::MoveItErrorCodes &error_code)

void	constructGoal (moveit_msgs::MoveGroupGoal &goal) const

void	constructMotionPlanRequest (moveit_msgs::MotionPlanRequest &request) const

moveit_msgs::PickupGoal	constructPickupGoal (const std::string &object, std::vector< moveit_msgs::Grasp > &&grasps, bool plan_only=false) const

moveit_msgs::PlaceGoal	constructPlaceGoal (const std::string &object, std::vector< moveit_msgs::PlaceLocation > &&locations, bool plan_only=false) const

bool	detachObject (const std::string &name)

moveit::core::MoveItErrorCode	execute (const moveit_msgs::RobotTrajectory &trajectory, bool wait)

bool	getCurrentState (moveit::core::RobotStatePtr &current_state, double wait_seconds=1.0)

std::string	getDefaultPlannerId (const std::string &group) const

std::string	getDefaultPlanningPipelineId () const

const std::string &	getEndEffector () const

const std::string &	getEndEffectorLink () const

double	getGoalJointTolerance () const

double	getGoalOrientationTolerance () const

double	getGoalPositionTolerance () const

bool	getInterfaceDescription (moveit_msgs::PlannerInterfaceDescription &desc)

bool	getInterfaceDescriptions (std::vector< moveit_msgs::PlannerInterfaceDescription > &desc)

const moveit::core::JointModelGroup *	getJointModelGroup () const

std::vector< std::string >	getKnownConstraints () const

actionlib::SimpleActionClient< moveit_msgs::MoveGroupAction > &	getMoveGroupClient () const

const Options &	getOptions () const

moveit_msgs::Constraints	getPathConstraints () const

const std::string &	getPlannerId () const

std::map< std::string, std::string >	getPlannerParams (const std::string &planner_id, const std::string &group="")

const std::string &	getPlanningPipelineId () const

double	getPlanningTime () const

const std::string &	getPoseReferenceFrame () const

const geometry_msgs::PoseStamped &	getPoseTarget (const std::string &end_effector_link) const

const std::vector< geometry_msgs::PoseStamped > &	getPoseTargets (const std::string &end_effector_link) const

const moveit::core::RobotModelConstPtr &	getRobotModel () const

moveit::core::RobotStatePtr	getStartState ()

moveit::core::RobotState &	getTargetRobotState ()

const moveit::core::RobotState &	getTargetRobotState () const

ActiveTargetType	getTargetType () const

const std::shared_ptr< tf2_ros::Buffer > &	getTF () const

moveit_msgs::TrajectoryConstraints	getTrajectoryConstraints () const

bool	hasPoseTarget (const std::string &end_effector_link) const

void	initializeConstraintsStorage (const std::string &host, unsigned int port)

void	limitMaxCartesianLinkSpeed (const double max_speed, const std::string &link_name)

moveit::core::MoveItErrorCode	move (bool wait)

	MoveGroupInterfaceImpl (const Options &opt, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer, const ros::WallDuration &wait_for_servers)

moveit::core::MoveItErrorCode	pick (const moveit_msgs::PickupGoal &goal)

moveit::core::MoveItErrorCode	place (const moveit_msgs::PlaceGoal &goal)

moveit::core::MoveItErrorCode	plan (Plan &plan)

moveit::core::MoveItErrorCode	planGraspsAndPick (const moveit_msgs::CollisionObject &object, bool plan_only=false)

moveit::core::MoveItErrorCode	planGraspsAndPick (const std::string &object, bool plan_only=false)

std::vector< moveit_msgs::PlaceLocation >	posesToPlaceLocations (const std::vector< geometry_msgs::PoseStamped > &poses) const
	Convert a vector of PoseStamped to a vector of PlaceLocation. More...

void	setEndEffectorLink (const std::string &end_effector)

void	setGoalJointTolerance (double tolerance)

void	setGoalOrientationTolerance (double tolerance)

void	setGoalPositionTolerance (double tolerance)

bool	setJointValueTarget (const geometry_msgs::Pose &eef_pose, const std::string &end_effector_link, const std::string &frame, bool approx)

void	setMaxAccelerationScalingFactor (double value)

void	setMaxScalingFactor (double &variable, const double target_value, const char *factor_name, double fallback_value)

void	setMaxVelocityScalingFactor (double value)

void	setNumPlanningAttempts (unsigned int num_planning_attempts)

void	setPathConstraints (const moveit_msgs::Constraints &constraint)

bool	setPathConstraints (const std::string &constraint)

void	setPlannerId (const std::string &planner_id)

void	setPlannerParams (const std::string &planner_id, const std::string &group, const std::map< std::string, std::string > &params, bool replace=false)

void	setPlanningPipelineId (const std::string &pipeline_id)

void	setPlanningTime (double seconds)

void	setPoseReferenceFrame (const std::string &pose_reference_frame)

bool	setPoseTargets (const std::vector< geometry_msgs::PoseStamped > &poses, const std::string &end_effector_link)

void	setStartState (const moveit::core::RobotState &start_state)

void	setStartStateToCurrentState ()

void	setSupportSurfaceName (const std::string &support_surface)

void	setTargetType (ActiveTargetType type)

void	setTrajectoryConstraints (const moveit_msgs::TrajectoryConstraints &constraint)

void	setWorkspace (double minx, double miny, double minz, double maxx, double maxy, double maxz)

bool	startStateMonitor (double wait)

void	stop ()

template<typename T >
void	waitForAction (const T &action, const std::string &name, const ros::WallTime &timeout, double allotted_time) const

	~MoveGroupInterfaceImpl ()

Private Member Functions
void	initializeConstraintsStorageThread (const std::string &host, unsigned int port)

Private Attributes
ActiveTargetType	active_target_

double	allowed_planning_time_

ros::Publisher	attached_object_publisher_

bool	can_look_

bool	can_replan_

ros::ServiceClient	cartesian_path_service_

std::string	cartesian_speed_limited_link_

moveit::core::RobotStatePtr	considered_start_state_

std::unique_ptr< boost::thread >	constraints_init_thread_

std::unique_ptr< moveit_warehouse::ConstraintsStorage >	constraints_storage_

planning_scene_monitor::CurrentStateMonitorPtr	current_state_monitor_

std::string	end_effector_link_

std::unique_ptr< actionlib::SimpleActionClient< moveit_msgs::ExecuteTrajectoryAction > >	execute_action_client_

ros::ServiceClient	get_params_service_

double	goal_joint_tolerance_

double	goal_orientation_tolerance_

double	goal_position_tolerance_

bool	initializing_constraints_

const moveit::core::JointModelGroup *	joint_model_group_

moveit::core::RobotStatePtr	joint_state_target_

int32_t	look_around_attempts_

double	max_acceleration_scaling_factor_

double	max_cartesian_speed_

double	max_velocity_scaling_factor_

std::unique_ptr< actionlib::SimpleActionClient< moveit_msgs::MoveGroupAction > >	move_action_client_

friend	MoveGroupInterface

ros::NodeHandle	node_handle_

unsigned int	num_planning_attempts_

Options	opt_

std::unique_ptr< moveit_msgs::Constraints >	path_constraints_

std::unique_ptr< actionlib::SimpleActionClient< moveit_msgs::PickupAction > >	pick_action_client_

std::unique_ptr< actionlib::SimpleActionClient< moveit_msgs::PlaceAction > >	place_action_client_

ros::ServiceClient	plan_grasps_service_

std::string	planner_id_

std::string	planning_pipeline_id_

std::string	pose_reference_frame_

std::map< std::string, std::vector< geometry_msgs::PoseStamped > >	pose_targets_

ros::ServiceClient	query_service_

int32_t	replan_attempts_

double	replan_delay_

moveit::core::RobotModelConstPtr	robot_model_

ros::ServiceClient	set_params_service_

std::string	support_surface_

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

std::unique_ptr< moveit_msgs::TrajectoryConstraints >	trajectory_constraints_

ros::Publisher	trajectory_event_publisher_

moveit_msgs::WorkspaceParameters	workspace_parameters_

Detailed Description

Definition at line 161 of file move_group_interface.cpp.

Constructor & Destructor Documentation

◆ MoveGroupInterfaceImpl()

moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::MoveGroupInterfaceImpl	(	const Options &	opt,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer,
		const ros::WallDuration &	wait_for_servers
	)

inline

Definition at line 166 of file move_group_interface.cpp.

◆ ~MoveGroupInterfaceImpl()

moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::~MoveGroupInterfaceImpl ( )

inline

Definition at line 319 of file move_group_interface.cpp.

Member Function Documentation

◆ attachObject()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::attachObject	(	const std::string &	object,
		const std::string &	link,
		const std::vector< std::string > &	touch_links
	)

inline

Definition at line 1059 of file move_group_interface.cpp.

◆ clearMaxCartesianLinkSpeed()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearMaxCartesianLinkSpeed ( )

inline

Definition at line 503 of file move_group_interface.cpp.

◆ clearPathConstraints()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearPathConstraints ( )

inline

Definition at line 1291 of file move_group_interface.cpp.

◆ clearPoseTarget()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearPoseTarget ( const std::string & end_effector_link )

inline

Definition at line 598 of file move_group_interface.cpp.

◆ clearPoseTargets()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearPoseTargets ( )

inline

Definition at line 603 of file move_group_interface.cpp.

◆ clearTrajectoryConstraints()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearTrajectoryConstraints ( )

inline

Definition at line 1301 of file move_group_interface.cpp.

◆ computeCartesianPath()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::computeCartesianPath	(	const std::vector< geometry_msgs::Pose > &	waypoints,
		double	step,
		double	jump_threshold,
		moveit_msgs::RobotTrajectory &	msg,
		const moveit_msgs::Constraints &	path_constraints,
		bool	avoid_collisions,
		moveit_msgs::MoveItErrorCodes &	error_code
	)

inline

Definition at line 1007 of file move_group_interface.cpp.

◆ constructGoal()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructGoal ( moveit_msgs::MoveGroupGoal & goal ) const

inline

Definition at line 1210 of file move_group_interface.cpp.

◆ constructMotionPlanRequest()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructMotionPlanRequest ( moveit_msgs::MotionPlanRequest & request ) const

inline

Definition at line 1150 of file move_group_interface.cpp.

◆ constructPickupGoal()

moveit_msgs::PickupGoal moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructPickupGoal	(	const std::string &	object,
		std::vector< moveit_msgs::Grasp > &&	grasps,
		bool	plan_only = `false`
	)		const

inline

Definition at line 1215 of file move_group_interface.cpp.

◆ constructPlaceGoal()

moveit_msgs::PlaceGoal moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructPlaceGoal	(	const std::string &	object,
		std::vector< moveit_msgs::PlaceLocation > &&	locations,
		bool	plan_only = `false`
	)		const

inline

Definition at line 1242 of file move_group_interface.cpp.

◆ detachObject()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::detachObject ( const std::string & name )

inline

Definition at line 1085 of file move_group_interface.cpp.

◆ execute()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::execute	(	const moveit_msgs::RobotTrajectory &	trajectory,
		bool	wait
	)

inline

Definition at line 968 of file move_group_interface.cpp.

◆ getCurrentState()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getCurrentState	(	moveit::core::RobotStatePtr &	current_state,
		double	wait_seconds = `1.0`
	)

inline

Definition at line 724 of file move_group_interface.cpp.

◆ getDefaultPlannerId()

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getDefaultPlannerId ( const std::string & group ) const

inline

Definition at line 430 of file move_group_interface.cpp.

◆ getDefaultPlanningPipelineId()

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getDefaultPlanningPipelineId ( ) const

inline

Definition at line 407 of file move_group_interface.cpp.

◆ getEndEffector()

const std::string& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getEndEffector ( ) const

inline

Definition at line 613 of file move_group_interface.cpp.

◆ getEndEffectorLink()

const std::string& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getEndEffectorLink ( ) const

inline

Definition at line 608 of file move_group_interface.cpp.

◆ getGoalJointTolerance()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getGoalJointTolerance ( ) const

inline

Definition at line 1119 of file move_group_interface.cpp.

◆ getGoalOrientationTolerance()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getGoalOrientationTolerance ( ) const

inline

Definition at line 1114 of file move_group_interface.cpp.

◆ getGoalPositionTolerance()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getGoalPositionTolerance ( ) const

inline

Definition at line 1109 of file move_group_interface.cpp.

◆ getInterfaceDescription()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getInterfaceDescription ( moveit_msgs::PlannerInterfaceDescription & desc )

inline

Definition at line 350 of file move_group_interface.cpp.

◆ getInterfaceDescriptions()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getInterfaceDescriptions ( std::vector< moveit_msgs::PlannerInterfaceDescription > & desc )

inline

Definition at line 363 of file move_group_interface.cpp.

◆ getJointModelGroup()

const moveit::core::JointModelGroup* moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getJointModelGroup ( ) const

inline

Definition at line 340 of file move_group_interface.cpp.

◆ getKnownConstraints()

std::vector<std::string> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getKnownConstraints ( ) const

inline

Definition at line 1306 of file move_group_interface.cpp.

◆ getMoveGroupClient()

actionlib::SimpleActionClient<moveit_msgs::MoveGroupAction>& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getMoveGroupClient ( ) const

inline

Definition at line 345 of file move_group_interface.cpp.

◆ getOptions()

const Options& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getOptions ( ) const

inline

Definition at line 330 of file move_group_interface.cpp.

◆ getPathConstraints()

moveit_msgs::Constraints moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPathConstraints ( ) const

inline

Definition at line 1321 of file move_group_interface.cpp.

◆ getPlannerId()

const std::string& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlannerId ( ) const

inline

Definition at line 455 of file move_group_interface.cpp.

◆ getPlannerParams()

std::map<std::string, std::string> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlannerParams	(	const std::string &	planner_id,
		const std::string &	group = `""`
	)

inline

Definition at line 376 of file move_group_interface.cpp.

◆ getPlanningPipelineId()

const std::string& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlanningPipelineId ( ) const

inline

Definition at line 425 of file move_group_interface.cpp.

◆ getPlanningTime()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlanningTime ( ) const

inline

Definition at line 1145 of file move_group_interface.cpp.

◆ getPoseReferenceFrame()

const std::string& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPoseReferenceFrame ( ) const

inline

Definition at line 693 of file move_group_interface.cpp.

◆ getPoseTarget()

const geometry_msgs::PoseStamped& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPoseTarget ( const std::string & end_effector_link ) const

inline

Definition at line 652 of file move_group_interface.cpp.

◆ getPoseTargets()

const std::vector<geometry_msgs::PoseStamped>& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPoseTargets ( const std::string & end_effector_link ) const

inline

Definition at line 668 of file move_group_interface.cpp.

◆ getRobotModel()

const moveit::core::RobotModelConstPtr& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getRobotModel ( ) const

inline

Definition at line 335 of file move_group_interface.cpp.

◆ getStartState()

moveit::core::RobotStatePtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getStartState ( )

inline

Definition at line 529 of file move_group_interface.cpp.

◆ getTargetRobotState() [1/2]

moveit::core::RobotState& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTargetRobotState ( )

inline

Definition at line 509 of file move_group_interface.cpp.

◆ getTargetRobotState() [2/2]

const moveit::core::RobotState& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTargetRobotState ( ) const

inline

Definition at line 514 of file move_group_interface.cpp.

◆ getTargetType()

ActiveTargetType moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTargetType ( ) const

inline

Definition at line 703 of file move_group_interface.cpp.

◆ getTF()

const std::shared_ptr<tf2_ros::Buffer>& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTF ( ) const

inline

Definition at line 325 of file move_group_interface.cpp.

◆ getTrajectoryConstraints()

moveit_msgs::TrajectoryConstraints moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTrajectoryConstraints ( ) const

inline

Definition at line 1329 of file move_group_interface.cpp.

◆ hasPoseTarget()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::hasPoseTarget ( const std::string & end_effector_link ) const

inline

Definition at line 646 of file move_group_interface.cpp.

◆ initializeConstraintsStorage()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::initializeConstraintsStorage	(	const std::string &	host,
		unsigned int	port
	)

inline

Definition at line 1337 of file move_group_interface.cpp.

◆ initializeConstraintsStorageThread()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::initializeConstraintsStorageThread	(	const std::string &	host,
		unsigned int	port
	)

inlineprivate

Definition at line 1359 of file move_group_interface.cpp.

◆ limitMaxCartesianLinkSpeed()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::limitMaxCartesianLinkSpeed	(	const double	max_speed,
		const std::string &	link_name
	)

inline

Definition at line 497 of file move_group_interface.cpp.

◆ move()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::move ( bool wait )

inline

Definition at line 923 of file move_group_interface.cpp.

◆ pick()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::pick ( const moveit_msgs::PickupGoal & goal )

inline

Definition at line 803 of file move_group_interface.cpp.

◆ place()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::place ( const moveit_msgs::PlaceGoal & goal )

inline

Definition at line 772 of file move_group_interface.cpp.

◆ plan()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::plan ( Plan & plan )

inline

Definition at line 882 of file move_group_interface.cpp.

◆ planGraspsAndPick() [1/2]

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::planGraspsAndPick	(	const moveit_msgs::CollisionObject &	object,
		bool	plan_only = `false`
	)

inline

Definition at line 853 of file move_group_interface.cpp.

◆ planGraspsAndPick() [2/2]

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::planGraspsAndPick	(	const std::string &	object,
		bool	plan_only = `false`
	)

inline

Definition at line 833 of file move_group_interface.cpp.

◆ posesToPlaceLocations()

std::vector<moveit_msgs::PlaceLocation> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::posesToPlaceLocations ( const std::vector< geometry_msgs::PoseStamped > & poses ) const

inline

Convert a vector of PoseStamped to a vector of PlaceLocation.

Definition at line 748 of file move_group_interface.cpp.

◆ setEndEffectorLink()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setEndEffectorLink ( const std::string & end_effector )

inline

Definition at line 593 of file move_group_interface.cpp.

◆ setGoalJointTolerance()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setGoalJointTolerance ( double tolerance )

inline

Definition at line 1124 of file move_group_interface.cpp.

◆ setGoalOrientationTolerance()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setGoalOrientationTolerance ( double tolerance )

inline

Definition at line 1134 of file move_group_interface.cpp.

◆ setGoalPositionTolerance()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setGoalPositionTolerance ( double tolerance )

inline

Definition at line 1129 of file move_group_interface.cpp.

◆ setJointValueTarget()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setJointValueTarget	(	const geometry_msgs::Pose &	eef_pose,
		const std::string &	end_effector_link,
		const std::string &	frame,
		bool	approx
	)

inline

Definition at line 541 of file move_group_interface.cpp.

◆ setMaxAccelerationScalingFactor()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setMaxAccelerationScalingFactor ( double value )

inline

Definition at line 470 of file move_group_interface.cpp.

◆ setMaxScalingFactor()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setMaxScalingFactor	(	double &	variable,
		const double	target_value,
		const char *	factor_name,
		double	fallback_value
	)

inline

Definition at line 475 of file move_group_interface.cpp.

◆ setMaxVelocityScalingFactor()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setMaxVelocityScalingFactor ( double value )

inline

Definition at line 465 of file move_group_interface.cpp.

◆ setNumPlanningAttempts()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setNumPlanningAttempts ( unsigned int num_planning_attempts )

inline

Definition at line 460 of file move_group_interface.cpp.

◆ setPathConstraints() [1/2]

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPathConstraints ( const moveit_msgs::Constraints & constraint )

inline

Definition at line 1269 of file move_group_interface.cpp.

◆ setPathConstraints() [2/2]

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPathConstraints ( const std::string & constraint )

inline

Definition at line 1274 of file move_group_interface.cpp.

◆ setPlannerId()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlannerId ( const std::string & planner_id )

inline

Definition at line 450 of file move_group_interface.cpp.

◆ setPlannerParams()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlannerParams	(	const std::string &	planner_id,
		const std::string &	group,
		const std::map< std::string, std::string > &	params,
		bool	replace = `false`
	)

inline

Definition at line 391 of file move_group_interface.cpp.

◆ setPlanningPipelineId()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlanningPipelineId ( const std::string & pipeline_id )

inline

Definition at line 414 of file move_group_interface.cpp.

◆ setPlanningTime()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlanningTime ( double seconds )

inline

Definition at line 1139 of file move_group_interface.cpp.

◆ setPoseReferenceFrame()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPoseReferenceFrame ( const std::string & pose_reference_frame )

inline

Definition at line 683 of file move_group_interface.cpp.

◆ setPoseTargets()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPoseTargets	(	const std::vector< geometry_msgs::PoseStamped > &	poses,
		const std::string &	end_effector_link
	)

inline

Definition at line 627 of file move_group_interface.cpp.

◆ setStartState()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setStartState ( const moveit::core::RobotState & start_state )

inline

Definition at line 519 of file move_group_interface.cpp.

◆ setStartStateToCurrentState()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setStartStateToCurrentState ( )

inline

Definition at line 524 of file move_group_interface.cpp.

◆ setSupportSurfaceName()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setSupportSurfaceName ( const std::string & support_surface )

inline

Definition at line 688 of file move_group_interface.cpp.

◆ setTargetType()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setTargetType ( ActiveTargetType type )

inline

Definition at line 698 of file move_group_interface.cpp.

◆ setTrajectoryConstraints()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setTrajectoryConstraints ( const moveit_msgs::TrajectoryConstraints & constraint )

inline

Definition at line 1296 of file move_group_interface.cpp.

◆ setWorkspace()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setWorkspace	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz
	)

inline

Definition at line 1346 of file move_group_interface.cpp.

◆ startStateMonitor()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::startStateMonitor ( double wait )

inline

Definition at line 708 of file move_group_interface.cpp.

◆ stop()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::stop ( )

inline

Definition at line 1049 of file move_group_interface.cpp.

◆ waitForAction()

template<typename T >

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::waitForAction	(	const T &	action,
		const std::string &	name,
		const ros::WallTime &	timeout,
		double	allotted_time
	)		const

inline

Definition at line 264 of file move_group_interface.cpp.

Member Data Documentation

◆ active_target_

ActiveTargetType moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::active_target_

private

Definition at line 1417 of file move_group_interface.cpp.

◆ allowed_planning_time_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::allowed_planning_time_

private

Definition at line 1391 of file move_group_interface.cpp.

◆ attached_object_publisher_

ros::Publisher moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::attached_object_publisher_

private

Definition at line 1426 of file move_group_interface.cpp.

◆ can_look_

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::can_look_

private

Definition at line 1402 of file move_group_interface.cpp.

◆ can_replan_

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::can_replan_

private

Definition at line 1404 of file move_group_interface.cpp.

◆ cartesian_path_service_

ros::ServiceClient moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::cartesian_path_service_

private

Definition at line 1430 of file move_group_interface.cpp.

◆ cartesian_speed_limited_link_

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::cartesian_speed_limited_link_

private

Definition at line 1397 of file move_group_interface.cpp.

◆ considered_start_state_

moveit::core::RobotStatePtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::considered_start_state_

private

Definition at line 1389 of file move_group_interface.cpp.

◆ constraints_init_thread_

std::unique_ptr<boost::thread> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constraints_init_thread_

private

Definition at line 1433 of file move_group_interface.cpp.

◆ constraints_storage_

std::unique_ptr<moveit_warehouse::ConstraintsStorage> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constraints_storage_

private

Definition at line 1432 of file move_group_interface.cpp.

◆ current_state_monitor_

planning_scene_monitor::CurrentStateMonitorPtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::current_state_monitor_

private

Definition at line 1382 of file move_group_interface.cpp.

◆ end_effector_link_

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::end_effector_link_

private

Definition at line 1420 of file move_group_interface.cpp.

◆ execute_action_client_

std::unique_ptr<actionlib::SimpleActionClient<moveit_msgs::ExecuteTrajectoryAction> > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::execute_action_client_

private

Definition at line 1384 of file move_group_interface.cpp.

◆ get_params_service_

ros::ServiceClient moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::get_params_service_

private

Definition at line 1428 of file move_group_interface.cpp.

◆ goal_joint_tolerance_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::goal_joint_tolerance_

private

Definition at line 1399 of file move_group_interface.cpp.

◆ goal_orientation_tolerance_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::goal_orientation_tolerance_

private

Definition at line 1401 of file move_group_interface.cpp.

◆ goal_position_tolerance_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::goal_position_tolerance_

private

Definition at line 1400 of file move_group_interface.cpp.

◆ initializing_constraints_

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::initializing_constraints_

private

Definition at line 1434 of file move_group_interface.cpp.

◆ joint_model_group_

const moveit::core::JointModelGroup* moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::joint_model_group_

private

Definition at line 1410 of file move_group_interface.cpp.

◆ joint_state_target_

moveit::core::RobotStatePtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::joint_state_target_

private

Definition at line 1409 of file move_group_interface.cpp.

◆ look_around_attempts_

int32_t moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::look_around_attempts_

private

Definition at line 1403 of file move_group_interface.cpp.

◆ max_acceleration_scaling_factor_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::max_acceleration_scaling_factor_

private

Definition at line 1396 of file move_group_interface.cpp.

◆ max_cartesian_speed_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::max_cartesian_speed_

private

Definition at line 1398 of file move_group_interface.cpp.

◆ max_velocity_scaling_factor_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::max_velocity_scaling_factor_

private

Definition at line 1395 of file move_group_interface.cpp.

◆ move_action_client_

std::unique_ptr<actionlib::SimpleActionClient<moveit_msgs::MoveGroupAction> > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::move_action_client_

private

Definition at line 1383 of file move_group_interface.cpp.

◆ MoveGroupInterface

friend moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::MoveGroupInterface

private

Definition at line 163 of file move_group_interface.cpp.

◆ node_handle_

ros::NodeHandle moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::node_handle_

private

Definition at line 1379 of file move_group_interface.cpp.

◆ num_planning_attempts_

unsigned int moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::num_planning_attempts_

private

Definition at line 1394 of file move_group_interface.cpp.

◆ opt_

Options moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::opt_

private

Definition at line 1378 of file move_group_interface.cpp.

◆ path_constraints_

std::unique_ptr<moveit_msgs::Constraints> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::path_constraints_

private

Definition at line 1418 of file move_group_interface.cpp.

◆ pick_action_client_

std::unique_ptr<actionlib::SimpleActionClient<moveit_msgs::PickupAction> > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::pick_action_client_

private

Definition at line 1385 of file move_group_interface.cpp.

◆ place_action_client_

std::unique_ptr<actionlib::SimpleActionClient<moveit_msgs::PlaceAction> > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::place_action_client_

private

Definition at line 1386 of file move_group_interface.cpp.

◆ plan_grasps_service_

ros::ServiceClient moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::plan_grasps_service_

private

Definition at line 1431 of file move_group_interface.cpp.

◆ planner_id_

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::planner_id_

private

Definition at line 1393 of file move_group_interface.cpp.

◆ planning_pipeline_id_

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::planning_pipeline_id_

private

Definition at line 1392 of file move_group_interface.cpp.

◆ pose_reference_frame_

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::pose_reference_frame_

private

Definition at line 1421 of file move_group_interface.cpp.

◆ pose_targets_

std::map<std::string, std::vector<geometry_msgs::PoseStamped> > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::pose_targets_

private

Definition at line 1414 of file move_group_interface.cpp.

◆ query_service_

ros::ServiceClient moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::query_service_

private

Definition at line 1427 of file move_group_interface.cpp.

◆ replan_attempts_

int32_t moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::replan_attempts_

private

Definition at line 1405 of file move_group_interface.cpp.

◆ replan_delay_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::replan_delay_

private

Definition at line 1406 of file move_group_interface.cpp.

◆ robot_model_

moveit::core::RobotModelConstPtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::robot_model_

private

Definition at line 1381 of file move_group_interface.cpp.

◆ set_params_service_

ros::ServiceClient moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::set_params_service_

private

Definition at line 1429 of file move_group_interface.cpp.

◆ support_surface_

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::support_surface_

private

Definition at line 1422 of file move_group_interface.cpp.

◆ tf_buffer_

std::shared_ptr<tf2_ros::Buffer> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::tf_buffer_

private

Definition at line 1380 of file move_group_interface.cpp.

◆ trajectory_constraints_

std::unique_ptr<moveit_msgs::TrajectoryConstraints> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::trajectory_constraints_

private

Definition at line 1419 of file move_group_interface.cpp.

◆ trajectory_event_publisher_

ros::Publisher moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::trajectory_event_publisher_

private

Definition at line 1425 of file move_group_interface.cpp.

◆ workspace_parameters_

moveit_msgs::WorkspaceParameters moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::workspace_parameters_

private

Definition at line 1390 of file move_group_interface.cpp.

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

move_group_interface.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MoveGroupInterfaceImpl()

◆ ~MoveGroupInterfaceImpl()

Member Function Documentation

◆ attachObject()

◆ clearMaxCartesianLinkSpeed()

◆ clearPathConstraints()

◆ clearPoseTarget()

◆ clearPoseTargets()

◆ clearTrajectoryConstraints()

◆ computeCartesianPath()

◆ constructGoal()

◆ constructMotionPlanRequest()

◆ constructPickupGoal()

◆ constructPlaceGoal()

◆ detachObject()

◆ execute()

◆ getCurrentState()

◆ getDefaultPlannerId()

◆ getDefaultPlanningPipelineId()

◆ getEndEffector()

◆ getEndEffectorLink()

◆ getGoalJointTolerance()

◆ getGoalOrientationTolerance()

◆ getGoalPositionTolerance()

◆ getInterfaceDescription()

◆ getInterfaceDescriptions()

◆ getJointModelGroup()

◆ getKnownConstraints()

◆ getMoveGroupClient()

◆ getOptions()

◆ getPathConstraints()

◆ getPlannerId()

◆ getPlannerParams()

◆ getPlanningPipelineId()

◆ getPlanningTime()

◆ getPoseReferenceFrame()

◆ getPoseTarget()

◆ getPoseTargets()

◆ getRobotModel()

◆ getStartState()

◆ getTargetRobotState() [1/2]

◆ getTargetRobotState() [2/2]

◆ getTargetType()

◆ getTF()

◆ getTrajectoryConstraints()

◆ hasPoseTarget()

◆ initializeConstraintsStorage()

◆ initializeConstraintsStorageThread()

◆ limitMaxCartesianLinkSpeed()

◆ move()

◆ pick()

◆ place()

◆ plan()

◆ planGraspsAndPick() [1/2]

◆ planGraspsAndPick() [2/2]

◆ posesToPlaceLocations()

◆ setEndEffectorLink()

◆ setGoalJointTolerance()

◆ setGoalOrientationTolerance()

◆ setGoalPositionTolerance()

◆ setJointValueTarget()

◆ setMaxAccelerationScalingFactor()

◆ setMaxScalingFactor()

◆ setMaxVelocityScalingFactor()

◆ setNumPlanningAttempts()

◆ setPathConstraints() [1/2]

◆ setPathConstraints() [2/2]

◆ setPlannerId()

◆ setPlannerParams()

◆ setPlanningPipelineId()

◆ setPlanningTime()

◆ setPoseReferenceFrame()

◆ setPoseTargets()

◆ setStartState()

◆ setStartStateToCurrentState()