Class PlanningGroups

Defined in File planning_groups.hpp

Inheritance Relationships

Base Type

public moveit_setup::srdf_setup::SuperSRDFStep< srdf::Model::Group > (Template Class SuperSRDFStep)

Class Documentation

class PlanningGroups : public moveit_setup::srdf_setup::SuperSRDFStep<srdf::Model::Group>

Public Functions

inline virtual std::string getName() const override

inline virtual std::vector<srdf::Model::Group> &getContainer() override: Returns the reference to the vector in the SRDF.

inline virtual InformationFields getInfoField() const override: Returns the info field associated with this part of the SRDF.

virtual void onInit() override

inline std::vector<srdf::Model::Group> &getGroups()

void renameGroup(const std::string &old_group_name, const std::string &new_group_name)

void deleteGroup(const std::string &group_name)

void setJoints(const std::string &group_name, const std::vector<std::string> &joint_names): Set the specified group’s joint names.

void setLinks(const std::string &group_name, const std::vector<std::string> &link_names): Set the specified group’s link names.

void setChain(const std::string &group_name, const std::string &base, const std::string &tip)

Set the specified group’s kinematic chain.

Throws:: runtime_error – If base/tip are invalid

void setSubgroups(const std::string &selected_group_name, const std::vector<std::string> &subgroups)

Set the specified group’s subgroups.

Throws:: runtime_error – If subgroup would result in a cycle

inline const GroupMetaData &getMetaData(const std::string &group_name) const

inline void setMetaData(const std::string &group_name, const GroupMetaData &meta_data)

inline std::vector<std::string> getGroupNames() const

inline const std::vector<std::string> &getJointNames() const

inline const std::vector<std::string> &getLinkNames() const

std::string getChildOfJoint(const std::string &joint_name) const

std::string getJointType(const std::string &joint_name) const

LinkNameTree getLinkNameTree() const

std::vector<std::string> getPosesByGroup(const std::string &group_name) const

std::vector<std::string> getEndEffectorsByGroup(const std::string &group_name) const

std::vector<std::string> getKinematicPlanners() const

std::vector<std::string> getOMPLPlanners() const

Protected Attributes

std::shared_ptr<GroupMetaConfig> group_meta_config_