00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef MOVEIT_MOVE_GROUP_DEFAULT_CAPABILITY_NAMES 00038 #define MOVEIT_MOVE_GROUP_DEFAULT_CAPABILITY_NAMES 00039 00040 #include <string> 00041 00042 namespace move_group 00043 { 00044 00045 static const std::string PLANNER_SERVICE_NAME = "plan_kinematic_path"; // name of the advertised service (within the ~ namespace) 00046 static const std::string EXECUTE_SERVICE_NAME = "execute_kinematic_path"; // name of the advertised service (within the ~ namespace) 00047 static const std::string QUERY_PLANNERS_SERVICE_NAME = "query_planner_interface"; // name of the advertised query planners service 00048 static const std::string MOVE_ACTION = "move_group"; // name of 'move' action 00049 static const std::string IK_SERVICE_NAME = "compute_ik"; // name of ik service 00050 static const std::string FK_SERVICE_NAME = "compute_fk"; // name of fk service 00051 static const std::string STATE_VALIDITY_SERVICE_NAME = "check_state_validity"; // name of the service that validates states 00052 static const std::string CARTESIAN_PATH_SERVICE_NAME = "compute_cartesian_path"; // name of the service that computes cartesian paths 00053 static const std::string GET_PLANNING_SCENE_SERVICE_NAME = "get_planning_scene"; // name of the service that can be used to query the planning scene 00054 00055 } 00056 00057 #endif