#include <plan_execution.h>

Classes
class	DynamicReconfigureImpl
struct	Options
Public Member Functions
std::string	getErrorCodeString (const moveit_msgs::MoveItErrorCodes &error_code)
unsigned int	getMaxReplanAttempts () const
const planning_scene_monitor::PlanningSceneMonitorPtr &	getPlanningSceneMonitor () const
const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	getTrajectoryExecutionManager () const
double	getTrajectoryStateRecordingFrequency () const
void	planAndExecute (ExecutableMotionPlan &plan, const Options &opt)
void	planAndExecute (ExecutableMotionPlan &plan, const moveit_msgs::PlanningScene &scene_diff, const Options &opt)
	PlanExecution (const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor, const trajectory_execution_manager::TrajectoryExecutionManagerPtr &trajectory_execution)
void	setMaxReplanAttempts (unsigned int attempts)
void	setTrajectoryStateRecordingFrequency (double freq)
void	stop ()
	~PlanExecution ()
Private Member Functions
void	doneWithTrajectoryExecution (const moveit_controller_manager::ExecutionStatus &status)
moveit_msgs::MoveItErrorCodes	executeAndMonitor (const ExecutableMotionPlan &plan)
bool	isRemainingPathValid (const ExecutableMotionPlan &plan)
bool	isRemainingPathValid (const ExecutableMotionPlan &plan, const std::pair< int, int > &path_segment)
void	planAndExecuteHelper (ExecutableMotionPlan &plan, const Options &opt)
void	planningSceneUpdatedCallback (const planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
void	successfulTrajectorySegmentExecution (const ExecutableMotionPlan *plan, std::size_t index)
Private Attributes
unsigned int	default_max_replan_attempts_
bool	execution_complete_
bool	new_scene_update_
ros::NodeHandle	node_handle_
bool	path_became_invalid_
planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_
bool	preempt_requested_
DynamicReconfigureImpl *	reconfigure_impl_
trajectory_execution_manager::TrajectoryExecutionManagerPtr	trajectory_execution_manager_
planning_scene_monitor::TrajectoryMonitorPtr	trajectory_monitor_

Detailed Description

Definition at line 52 of file plan_execution.h.

Constructor & Destructor Documentation

plan_execution::PlanExecution::PlanExecution	(	const planning_scene_monitor::PlanningSceneMonitorPtr &	planning_scene_monitor,
		const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	trajectory_execution
	)

Definition at line 74 of file plan_execution.cpp.

plan_execution::PlanExecution::~PlanExecution ( )

Definition at line 94 of file plan_execution.cpp.

Member Function Documentation

void plan_execution::PlanExecution::doneWithTrajectoryExecution ( const moveit_controller_manager::ExecutionStatus & status ) [private]

Definition at line 461 of file plan_execution.cpp.

moveit_msgs::MoveItErrorCodes plan_execution::PlanExecution::executeAndMonitor ( const ExecutableMotionPlan & plan ) [private]

Definition at line 312 of file plan_execution.cpp.

std::string plan_execution::PlanExecution::getErrorCodeString ( const moveit_msgs::MoveItErrorCodes & error_code )

Definition at line 104 of file plan_execution.cpp.

unsigned int plan_execution::PlanExecution::getMaxReplanAttempts ( ) const [inline]

Definition at line 122 of file plan_execution.h.

const planning_scene_monitor::PlanningSceneMonitorPtr& plan_execution::PlanExecution::getPlanningSceneMonitor ( ) const [inline]

Definition at line 93 of file plan_execution.h.

const trajectory_execution_manager::TrajectoryExecutionManagerPtr& plan_execution::PlanExecution::getTrajectoryExecutionManager ( ) const [inline]

Definition at line 98 of file plan_execution.h.

double plan_execution::PlanExecution::getTrajectoryStateRecordingFrequency ( ) const [inline]

Definition at line 103 of file plan_execution.h.

bool plan_execution::PlanExecution::isRemainingPathValid ( const ExecutableMotionPlan & plan ) [private]

Definition at line 267 of file plan_execution.cpp.

bool plan_execution::PlanExecution::isRemainingPathValid	(	const ExecutableMotionPlan &	plan,
		const std::pair< int, int > &	path_segment
	)		`[private]`

Definition at line 274 of file plan_execution.cpp.

void plan_execution::PlanExecution::planAndExecute	(	ExecutableMotionPlan &	plan,
		const Options &	opt
	)

Definition at line 147 of file plan_execution.cpp.

void plan_execution::PlanExecution::planAndExecute	(	ExecutableMotionPlan &	plan,
		const moveit_msgs::PlanningScene &	scene_diff,
		const Options &	opt
	)

Definition at line 154 of file plan_execution.cpp.

void plan_execution::PlanExecution::planAndExecuteHelper	(	ExecutableMotionPlan &	plan,
		const Options &	opt
	)		`[private]`

Definition at line 169 of file plan_execution.cpp.

void plan_execution::PlanExecution::planningSceneUpdatedCallback ( const planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type ) [private]

Definition at line 455 of file plan_execution.cpp.

void plan_execution::PlanExecution::setMaxReplanAttempts ( unsigned int attempts ) [inline]

Definition at line 117 of file plan_execution.h.

void plan_execution::PlanExecution::setTrajectoryStateRecordingFrequency ( double freq ) [inline]

Definition at line 111 of file plan_execution.h.

void plan_execution::PlanExecution::stop ( void )

Definition at line 99 of file plan_execution.cpp.