planning_scene_utils Namespace Reference

contains utilities for editing planning scenes More...

Classes
class	MotionPlanRequestData
	Convenience class wrapping a motion plan request and its meta-data. More...
class	PlanningSceneData
	Convenience class wrapping a planning scene message and its meta-data. More...
class	PlanningSceneEditor
	Class for creating, editing, and saving planning scenes. More...
struct	PlanningSceneParameters
class	TrajectoryData
	Convenience class wrapping a trajectory message and its meta-data. More...
class	TrajectoryStats
Enumerations
enum	PositionType { StartPosition, GoalPosition }
	Specifies either the start or end position of a motion plan request. More...
enum	RenderType { CollisionMesh, VisualMesh, PaddingMesh }
	Specifies how a set of links should be rendered. CollisionMesh: Mesh resource in URDF file listed for testing collisions. VisualMesh: Mesh resource in URDF file listed for visualization. PaddingMesh: Wireframe mesh representing the link's configuration space padding. More...
enum	TrajectoryRenderType { Kinematic, Temporal }
	Specifies how a trajectory should be rendered. Kinematic: Trajectories are rendered by iterating through the trajectory points (ignoring timestamps). Temporal: Trajectories that have valid timestamps, are rendered based on the timestamps. More...
Functions
static std::string	getMotionPlanRequestNameFromId (const unsigned int id)
static unsigned int	getPlanningSceneIdFromName (const std::string &name)
static std::string	getPlanningSceneNameFromId (const unsigned int id)
static std::string	getResultErrorFromCode (int error_code)
	Convert a control error code into a string value.
static std::string	getTrajectoryNameFromId (const unsigned int id)
static tf::Transform	toBulletTransform (geometry_msgs::Pose pose)
static geometry_msgs::Pose	toGeometryPose (tf::Transform transform)

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Detailed Description

contains utilities for editing planning scenes

Namespace planning_scene_utils

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Enumeration Type Documentation

enum planning_scene_utils::PositionType

Specifies either the start or end position of a motion plan request.

Enum PositionType

Enumerator:

StartPosition
GoalPosition

Definition at line 164 of file move_arm_utils.h.

enum planning_scene_utils::RenderType

Specifies how a set of links should be rendered. CollisionMesh: Mesh resource in URDF file listed for testing collisions. VisualMesh: Mesh resource in URDF file listed for visualization. PaddingMesh: Wireframe mesh representing the link's configuration space padding.

Enum RenderType

Enumerator:

CollisionMesh
VisualMesh
PaddingMesh

Definition at line 176 of file move_arm_utils.h.

enum planning_scene_utils::TrajectoryRenderType

Specifies how a trajectory should be rendered. Kinematic: Trajectories are rendered by iterating through the trajectory points (ignoring timestamps). Temporal: Trajectories that have valid timestamps, are rendered based on the timestamps.

Enum TrajectoryRenderType

Enumerator:

Kinematic
Temporal

Definition at line 187 of file move_arm_utils.h.

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Function Documentation

static std::string planning_scene_utils::getMotionPlanRequestNameFromId

(

const unsigned int

id

)

[inline, static]

Definition at line 124 of file move_arm_utils.h.

static unsigned int planning_scene_utils::getPlanningSceneIdFromName

(

const std::string &

name

)

[inline, static]

Definition at line 114 of file move_arm_utils.h.

static std::string planning_scene_utils::getPlanningSceneNameFromId

(

const unsigned int

id

)

[inline, static]

Definition at line 108 of file move_arm_utils.h.

static std::string planning_scene_utils::getResultErrorFromCode

(

int

error_code

)

[inline, static]

Convert a control error code into a string value.

Parameters:

error_code

The input error code

Returns:

The resultant string message

Definition at line 141 of file move_arm_utils.h.

static std::string planning_scene_utils::getTrajectoryNameFromId

(

const unsigned int

id

)

[inline, static]

Definition at line 130 of file move_arm_utils.h.

static tf::Transform planning_scene_utils::toBulletTransform

(

geometry_msgs::Pose

pose

)

[inline, static]

Definition at line 100 of file move_arm_utils.h.

static geometry_msgs::Pose planning_scene_utils::toGeometryPose

(

tf::Transform

transform

)

[inline, static]

Definition at line 87 of file move_arm_utils.h.