#include <moveit_cpp.h>

Classes
struct	Options
	Parameter container for initializing MoveItCpp. More...

struct	PlanningPipelineOptions
	struct contains the the variables used for loading the planning pipeline More...

struct	PlanningSceneMonitorOptions
	Specification of options to use when constructing the MoveItCpp class. More...

Public Member Functions
bool	execute (const std::string &group_name, const robot_trajectory::RobotTrajectoryPtr &robot_trajectory, bool blocking=true)
	Execute a trajectory on the planning group specified by group_name using the trajectory execution manager. If blocking is set to false, the execution is run in background and the function returns immediately. More...

moveit::core::RobotStatePtr	getCurrentState (double wait_seconds=0.0)
	Get the current state queried from the current state monitor. More...

bool	getCurrentState (moveit::core::RobotStatePtr &current_state, double wait_seconds)
	Get the current state queried from the current state monitor. More...

const ros::NodeHandle &	getNodeHandle () const
	Get the ROS node handle of this instance operates on. More...

const std::map< std::string, planning_pipeline::PlanningPipelinePtr > &	getPlanningPipelines () const
	Get all loaded planning pipeline instances mapped to their reference names. More...

planning_scene_monitor::PlanningSceneMonitorConstPtr	getPlanningSceneMonitor () const
	Get the stored instance of the planning scene monitor. More...

planning_scene_monitor::PlanningSceneMonitorPtr	getPlanningSceneMonitorNonConst ()

moveit::core::RobotModelConstPtr	getRobotModel () const
	Get the RobotModel object. More...

std::shared_ptr< tf2_ros::Buffer >	getTFBuffer ()

std::shared_ptr< const tf2_ros::Buffer >	getTFBuffer () const

trajectory_execution_manager::TrajectoryExecutionManagerConstPtr	getTrajectoryExecutionManager () const
	Get the stored instance of the trajectory execution manager. More...

trajectory_execution_manager::TrajectoryExecutionManagerPtr	getTrajectoryExecutionManagerNonConst ()

	MoveItCpp (const MoveItCpp &)=delete
	This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required. More...

	MoveItCpp (const Options &options, const ros::NodeHandle &nh, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer={})

	MoveItCpp (const ros::NodeHandle &nh, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer={})
	Constructor. More...

	MoveItCpp (MoveItCpp &&other)=default

MoveItCpp &	operator= (const MoveItCpp &)=delete

MoveItCpp &	operator= (MoveItCpp &&other)=default

bool	terminatePlanningPipeline (std::string const &pipeline_name)
	Utility to terminate a given planning pipeline. More...

	~MoveItCpp ()
	Destructor. More...

Protected Attributes
std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_

Private Member Functions
bool	loadPlanningPipelines (const PlanningPipelineOptions &options)
	Initialize and setup the planning pipelines. More...

bool	loadPlanningSceneMonitor (const PlanningSceneMonitorOptions &options)
	Initialize and setup the planning scene monitor. More...

Private Attributes
std::map< std::string, std::set< std::string > >	groups_algorithms_map_

ros::NodeHandle	node_handle_

std::map< std::string, planning_pipeline::PlanningPipelinePtr >	planning_pipelines_

planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_

trajectory_execution_manager::TrajectoryExecutionManagerPtr	trajectory_execution_manager_

Detailed Description

Definition at line 86 of file moveit_cpp.h.

Constructor & Destructor Documentation

◆ MoveItCpp() [1/4]

moveit_cpp::MoveItCpp::MoveItCpp	(	const ros::NodeHandle &	nh,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = `{}`
	)

Constructor.

Definition at line 77 of file moveit_cpp.cpp.

◆ MoveItCpp() [2/4]

moveit_cpp::MoveItCpp::MoveItCpp	(	const Options &	options,
		const ros::NodeHandle &	nh,
		const std::shared_ptr< tf2_ros::Buffer > &	tf_buffer = `{}`
	)

Definition at line 82 of file moveit_cpp.cpp.

◆ MoveItCpp() [3/4]

moveit_cpp::MoveItCpp::MoveItCpp ( const MoveItCpp & )

delete

This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required.

◆ MoveItCpp() [4/4]

moveit_cpp::MoveItCpp::MoveItCpp ( MoveItCpp && other )

default

◆ ~MoveItCpp()

moveit_cpp::MoveItCpp::~MoveItCpp ( )

Destructor.

Definition at line 121 of file moveit_cpp.cpp.

Member Function Documentation

◆ execute()

bool moveit_cpp::MoveItCpp::execute	(	const std::string &	group_name,
		const robot_trajectory::RobotTrajectoryPtr &	robot_trajectory,
		bool	blocking = `true`
	)

Execute a trajectory on the planning group specified by group_name using the trajectory execution manager. If blocking is set to false, the execution is run in background and the function returns immediately.

Definition at line 258 of file moveit_cpp.cpp.

◆ getCurrentState() [1/2]

moveit::core::RobotStatePtr moveit_cpp::MoveItCpp::getCurrentState ( double wait_seconds = 0.0 )

Get the current state queried from the current state monitor.

Parameters

wait_seconds the time in seconds for the state monitor to wait for a robot state.

Definition at line 226 of file moveit_cpp.cpp.

◆ getCurrentState() [2/2]

bool moveit_cpp::MoveItCpp::getCurrentState	(	moveit::core::RobotStatePtr &	current_state,
		double	wait_seconds
	)

Get the current state queried from the current state monitor.

Parameters

wait_seconds the time in seconds for the state monitor to wait for a robot state.

Definition at line 211 of file moveit_cpp.cpp.

◆ getNodeHandle()

const ros::NodeHandle & moveit_cpp::MoveItCpp::getNodeHandle ( ) const

Get the ROS node handle of this instance operates on.

Definition at line 206 of file moveit_cpp.cpp.

◆ getPlanningPipelines()

const std::map< std::string, planning_pipeline::PlanningPipelinePtr > & moveit_cpp::MoveItCpp::getPlanningPipelines ( ) const

Get all loaded planning pipeline instances mapped to their reference names.

Definition at line 233 of file moveit_cpp.cpp.

◆ getPlanningSceneMonitor()

planning_scene_monitor::PlanningSceneMonitorConstPtr moveit_cpp::MoveItCpp::getPlanningSceneMonitor ( ) const

Get the stored instance of the planning scene monitor.

Definition at line 238 of file moveit_cpp.cpp.

◆ getPlanningSceneMonitorNonConst()

planning_scene_monitor::PlanningSceneMonitorPtr moveit_cpp::MoveItCpp::getPlanningSceneMonitorNonConst ( )

Definition at line 243 of file moveit_cpp.cpp.

◆ getRobotModel()

moveit::core::RobotModelConstPtr moveit_cpp::MoveItCpp::getRobotModel ( ) const

Get the RobotModel object.

Definition at line 201 of file moveit_cpp.cpp.

◆ getTFBuffer() [1/2]

std::shared_ptr<tf2_ros::Buffer> moveit_cpp::MoveItCpp::getTFBuffer ( )

◆ getTFBuffer() [2/2]

std::shared_ptr< tf2_ros::Buffer > moveit_cpp::MoveItCpp::getTFBuffer ( ) const

Definition at line 307 of file moveit_cpp.cpp.

◆ getTrajectoryExecutionManager()

trajectory_execution_manager::TrajectoryExecutionManagerConstPtr moveit_cpp::MoveItCpp::getTrajectoryExecutionManager ( ) const

Get the stored instance of the trajectory execution manager.

Definition at line 248 of file moveit_cpp.cpp.

◆ getTrajectoryExecutionManagerNonConst()

trajectory_execution_manager::TrajectoryExecutionManagerPtr moveit_cpp::MoveItCpp::getTrajectoryExecutionManagerNonConst ( )

Definition at line 253 of file moveit_cpp.cpp.

◆ loadPlanningPipelines()

bool moveit_cpp::MoveItCpp::loadPlanningPipelines ( const PlanningPipelineOptions & options )

private

Initialize and setup the planning pipelines.

Definition at line 162 of file moveit_cpp.cpp.

◆ loadPlanningSceneMonitor()

bool moveit_cpp::MoveItCpp::loadPlanningSceneMonitor ( const PlanningSceneMonitorOptions & options )

private

Initialize and setup the planning scene monitor.

Definition at line 126 of file moveit_cpp.cpp.

◆ operator=() [1/2]

MoveItCpp& moveit_cpp::MoveItCpp::operator= ( const MoveItCpp & )

delete

◆ operator=() [2/2]

MoveItCpp& moveit_cpp::MoveItCpp::operator= ( MoveItCpp && other )

default

◆ terminatePlanningPipeline()

bool moveit_cpp::MoveItCpp::terminatePlanningPipeline ( std::string const & pipeline_name )

Utility to terminate a given planning pipeline.

Definition at line 288 of file moveit_cpp.cpp.

Member Data Documentation

◆ groups_algorithms_map_

std::map<std::string, std::set<std::string> > moveit_cpp::MoveItCpp::groups_algorithms_map_

private

Definition at line 207 of file moveit_cpp.h.

◆ node_handle_

ros::NodeHandle moveit_cpp::MoveItCpp::node_handle_

private

Definition at line 202 of file moveit_cpp.h.

◆ planning_pipelines_

std::map<std::string, planning_pipeline::PlanningPipelinePtr> moveit_cpp::MoveItCpp::planning_pipelines_

private

Definition at line 206 of file moveit_cpp.h.

◆ planning_scene_monitor_

planning_scene_monitor::PlanningSceneMonitorPtr moveit_cpp::MoveItCpp::planning_scene_monitor_

private

Definition at line 203 of file moveit_cpp.h.

◆ tf_buffer_

std::shared_ptr<tf2_ros::Buffer> moveit_cpp::MoveItCpp::tf_buffer_

protected

Definition at line 197 of file moveit_cpp.h.

◆ tf_listener_

std::shared_ptr<tf2_ros::TransformListener> moveit_cpp::MoveItCpp::tf_listener_

protected

Definition at line 198 of file moveit_cpp.h.

◆ trajectory_execution_manager_

trajectory_execution_manager::TrajectoryExecutionManagerPtr moveit_cpp::MoveItCpp::trajectory_execution_manager_

private

Definition at line 210 of file moveit_cpp.h.

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

Classes

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MoveItCpp() [1/4]

◆ MoveItCpp() [2/4]

◆ MoveItCpp() [3/4]

◆ MoveItCpp() [4/4]

◆ ~MoveItCpp()

Member Function Documentation

◆ execute()

◆ getCurrentState() [1/2]

◆ getCurrentState() [2/2]

◆ getNodeHandle()

◆ getPlanningPipelines()

◆ getPlanningSceneMonitor()

◆ getPlanningSceneMonitorNonConst()

◆ getRobotModel()

◆ getTFBuffer() [1/2]

◆ getTFBuffer() [2/2]

◆ getTrajectoryExecutionManager()

◆ getTrajectoryExecutionManagerNonConst()

◆ loadPlanningPipelines()

◆ loadPlanningSceneMonitor()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ terminatePlanningPipeline()

Member Data Documentation

◆ groups_algorithms_map_

◆ node_handle_

◆ planning_pipelines_

◆ planning_scene_monitor_

◆ tf_buffer_

◆ tf_listener_

◆ trajectory_execution_manager_