PlanningSceneInterface Class Reference

#include <planning_scene_interface.h>

List of all members.

Public Member Functions
void	addObject (const arm_navigation_msgs::CollisionObject &object)
void	attachObjectToGripper (const std::string &id, const std::string &arm)
void	detachObjectAndAdd (const std::string &id)
const arm_navigation_msgs::AttachedCollisionObject *	getAttachedCollisionObject (const std::string &id)
const std::vector < arm_navigation_msgs::AttachedCollisionObject > &	getAttachedCollisionObjects () const
const arm_navigation_msgs::CollisionObject *	getCollisionObject (const std::string &id)
const std::vector < arm_navigation_msgs::CollisionObject > &	getCollisionObjects ()
const arm_navigation_msgs::PlanningScene &	getCurrentScene () const
const std::string &	getGlobalFrame () const
const arm_navigation_msgs::RobotState &	getRobotState ()
void	printDiffToCurrent (const arm_navigation_msgs::PlanningScene &other) const
void	removeObject (const std::string &id)
bool	resetPlanningScene ()
bool	sendDiff ()
void	setRobotState (const arm_navigation_msgs::RobotState &state)
void	test ()
void	updateObject (const std::string &id, const geometry_msgs::Pose &pose)
Static Public Member Functions
static PlanningSceneInterface *	instance ()
static bool	isDifferent (const geometry_msgs::Pose &pose, const geometry_msgs::Pose &other)
static void	printAttachedObject (const arm_navigation_msgs::AttachedCollisionObject &object)
static void	printDiff (const arm_navigation_msgs::PlanningScene &scene, const arm_navigation_msgs::PlanningScene &other)
static void	printDiff (const arm_navigation_msgs::RobotState &state, const arm_navigation_msgs::RobotState &other)
static void	printDiff (const std::vector< arm_navigation_msgs::CollisionObject > &objectList, const std::vector< arm_navigation_msgs::CollisionObject > &other)
static void	printDiff (const std::vector< arm_navigation_msgs::AttachedCollisionObject > &objectList, const std::vector< arm_navigation_msgs::AttachedCollisionObject > &other)
static void	printObjects (const arm_navigation_msgs::PlanningScene &scene)
Private Member Functions
arm_navigation_msgs::AttachedCollisionObject *	getAttachedCollisionObject_ (const std::string &id)
std::vector < arm_navigation_msgs::AttachedCollisionObject > &	getAttachedCollisionObjects_ ()
arm_navigation_msgs::CollisionObject *	getCollisionObject_ (const std::string &id)
std::vector < arm_navigation_msgs::CollisionObject > &	getCollisionObjects_ ()
arm_navigation_msgs::RobotState &	getRobotState_ ()
	PlanningSceneInterface ()
Private Attributes
std::string	globalFrame
std::map< std::string, HandDescription >	handDescriptions
std::string	logName
ros::ServiceClient	setPlanningSceneService
arm_navigation_msgs::SetPlanningSceneDiff	spsdService
Static Private Attributes
static PlanningSceneInterface *	singleton_instance = NULL

---

Detailed Description

Definition at line 17 of file planning_scene_interface.h.

---

Constructor & Destructor Documentation

PlanningSceneInterface::PlanningSceneInterface

(

)

[private]

Definition at line 22 of file planning_scene_interface.cpp.

---

Member Function Documentation

void PlanningSceneInterface::addObject

(

const arm_navigation_msgs::CollisionObject &

object

)

Definition at line 124 of file planning_scene_interface.cpp.

void PlanningSceneInterface::attachObjectToGripper	(	const std::string &	id,
		const std::string &	arm
	)

Definition at line 190 of file planning_scene_interface.cpp.

void PlanningSceneInterface::detachObjectAndAdd

(

const std::string &

id

)

Definition at line 224 of file planning_scene_interface.cpp.

const arm_navigation_msgs::AttachedCollisionObject * PlanningSceneInterface::getAttachedCollisionObject

(

const std::string &

id

)

Definition at line 80 of file planning_scene_interface.cpp.

arm_navigation_msgs::AttachedCollisionObject * PlanningSceneInterface::getAttachedCollisionObject_

(

const std::string &

id

)

[private]

Definition at line 96 of file planning_scene_interface.cpp.

const std::vector<arm_navigation_msgs::AttachedCollisionObject>& PlanningSceneInterface::getAttachedCollisionObjects

(

)

const [inline]

Definition at line 30 of file planning_scene_interface.h.

std::vector<arm_navigation_msgs::AttachedCollisionObject>& PlanningSceneInterface::getAttachedCollisionObjects_

(

)

[inline, private]

Definition at line 61 of file planning_scene_interface.h.

const arm_navigation_msgs::CollisionObject * PlanningSceneInterface::getCollisionObject

(

const std::string &

id

)

Definition at line 75 of file planning_scene_interface.cpp.

arm_navigation_msgs::CollisionObject * PlanningSceneInterface::getCollisionObject_

(

const std::string &

id

)

[private]

Definition at line 85 of file planning_scene_interface.cpp.

const std::vector<arm_navigation_msgs::CollisionObject>& PlanningSceneInterface::getCollisionObjects

(

)

[inline]

Definition at line 29 of file planning_scene_interface.h.

std::vector<arm_navigation_msgs::CollisionObject>& PlanningSceneInterface::getCollisionObjects_

(

)

[inline, private]

Definition at line 60 of file planning_scene_interface.h.

const arm_navigation_msgs::PlanningScene& PlanningSceneInterface::getCurrentScene

(

)

const [inline]

Definition at line 27 of file planning_scene_interface.h.

const std::string& PlanningSceneInterface::getGlobalFrame

(

)

const [inline]

Definition at line 41 of file planning_scene_interface.h.

const arm_navigation_msgs::RobotState& PlanningSceneInterface::getRobotState

(

)

[inline]

Definition at line 28 of file planning_scene_interface.h.

arm_navigation_msgs::RobotState& PlanningSceneInterface::getRobotState_

(

)

[inline, private]

Definition at line 59 of file planning_scene_interface.h.

PlanningSceneInterface * PlanningSceneInterface::instance

(

)

[static]

Definition at line 13 of file planning_scene_interface.cpp.

bool PlanningSceneInterface::isDifferent	(	const geometry_msgs::Pose &	pose,
		const geometry_msgs::Pose &	other
	)		[static]

Definition at line 287 of file planning_scene_interface.cpp.

void PlanningSceneInterface::printAttachedObject

(

const arm_navigation_msgs::AttachedCollisionObject &

object

)

[static]

Definition at line 365 of file planning_scene_interface.cpp.

void PlanningSceneInterface::printDiff	(	const arm_navigation_msgs::PlanningScene &	scene,
		const arm_navigation_msgs::PlanningScene &	other
	)		[static]

Definition at line 253 of file planning_scene_interface.cpp.

void PlanningSceneInterface::printDiff	(	const arm_navigation_msgs::RobotState &	state,
		const arm_navigation_msgs::RobotState &	other
	)		[static]

Definition at line 269 of file planning_scene_interface.cpp.

void PlanningSceneInterface::printDiff	(	const std::vector< arm_navigation_msgs::CollisionObject > &	objectList,
		const std::vector< arm_navigation_msgs::CollisionObject > &	other
	)		[static]

Definition at line 308 of file planning_scene_interface.cpp.

void PlanningSceneInterface::printDiff	(	const std::vector< arm_navigation_msgs::AttachedCollisionObject > &	objectList,
		const std::vector< arm_navigation_msgs::AttachedCollisionObject > &	other
	)		[static]

Definition at line 337 of file planning_scene_interface.cpp.

void PlanningSceneInterface::printDiffToCurrent

(

const arm_navigation_msgs::PlanningScene &

other

)

const

Definition at line 248 of file planning_scene_interface.cpp.

void PlanningSceneInterface::printObjects

(

const arm_navigation_msgs::PlanningScene &

scene

)

[static]

Definition at line 370 of file planning_scene_interface.cpp.

void PlanningSceneInterface::removeObject

(

const std::string &

id

)

Definition at line 148 of file planning_scene_interface.cpp.

bool PlanningSceneInterface::resetPlanningScene

(

)

Definition at line 69 of file planning_scene_interface.cpp.

bool PlanningSceneInterface::sendDiff

(

)

Definition at line 54 of file planning_scene_interface.cpp.

void PlanningSceneInterface::setRobotState

(

const arm_navigation_msgs::RobotState &

state

)

Definition at line 107 of file planning_scene_interface.cpp.

void PlanningSceneInterface::test

(

)

Definition at line 384 of file planning_scene_interface.cpp.

void PlanningSceneInterface::updateObject	(	const std::string &	id,
		const geometry_msgs::Pose &	pose
	)

Definition at line 172 of file planning_scene_interface.cpp.

---

Member Data Documentation

std::string PlanningSceneInterface::globalFrame [private]

Definition at line 70 of file planning_scene_interface.h.

std::map<std::string, HandDescription> PlanningSceneInterface::handDescriptions [private]

Definition at line 69 of file planning_scene_interface.h.

std::string PlanningSceneInterface::logName [private]

Definition at line 72 of file planning_scene_interface.h.

ros::ServiceClient PlanningSceneInterface::setPlanningSceneService [private]

Definition at line 67 of file planning_scene_interface.h.

PlanningSceneInterface * PlanningSceneInterface::singleton_instance = NULL [static, private]

Definition at line 65 of file planning_scene_interface.h.

arm_navigation_msgs::SetPlanningSceneDiff PlanningSceneInterface::spsdService [private]

Definition at line 66 of file planning_scene_interface.h.

---

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

• planning_scene_interface.h
• planning_scene_interface.cpp