moveit_commander.robot.RobotCommander Class Reference

List of all members.

Classes
class	Joint
class	Link
Public Member Functions
def	__getattr__
def	__init__
def	get_current_state
def	get_current_variable_values
def	get_default_owner_group
def	get_group
def	get_group_names
def	get_joint
def	get_joint_names
def	get_link
def	get_link_names
def	get_planning_frame
def	get_root_link
def	has_group
Private Attributes
	_groups
	_joint_owner_group
	_r

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Detailed Description

Definition at line 41 of file robot.py.

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Constructor & Destructor Documentation

def moveit_commander.robot.RobotCommander.__init__	(		self,
			robot_description = "robot_description"
	)

Definition at line 147 of file robot.py.

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Member Function Documentation

def moveit_commander.robot.RobotCommander.__getattr__	(		self,
			name
	)

We catch the names of groups, joints and links to allow easy access
to their properties.

Definition at line 265 of file robot.py.

def moveit_commander.robot.RobotCommander.get_current_state

(

self

)

Get a RobotState message describing the current state of the robot

Definition at line 195 of file robot.py.

def moveit_commander.robot.RobotCommander.get_current_variable_values

(

self

)

Get a dictionary mapping variable names to values.
Note that a joint may consist of one or more variables.

Definition at line 201 of file robot.py.

def moveit_commander.robot.RobotCommander.get_default_owner_group	(		self,
			joint_name
	)

Get the name of the smallest group (fewest joints) that includes
the joint name specified as argument.

Definition at line 248 of file robot.py.

def moveit_commander.robot.RobotCommander.get_group	(		self,
			name
	)

@param name str: Name of movegroup
@rtype: moveit_commander.MoveGroupCommander

Definition at line 230 of file robot.py.

def moveit_commander.robot.RobotCommander.get_group_names

(

self

)

Get the names of the groups defined for the robot

Definition at line 191 of file robot.py.

def moveit_commander.robot.RobotCommander.get_joint	(		self,
			name
	)

@param name str: Name of movegroup
@rtype: moveit_commander.robot.Joint
@raise exception: MoveItCommanderException

Definition at line 208 of file robot.py.

def moveit_commander.robot.RobotCommander.get_joint_names	(		self,
			group = None
	)

Get the names of all the movable joints that make up a group
(mimic joints and fixed joints are excluded). If no group name is
specified, all joints in the robot model are returned, including
fixed and mimic joints.

Definition at line 163 of file robot.py.

def moveit_commander.robot.RobotCommander.get_link	(		self,
			name
	)

@param name str: Name of movegroup
@rtype: moveit_commander.robot.Link
@raise exception: MoveItCommanderException

Definition at line 219 of file robot.py.

def moveit_commander.robot.RobotCommander.get_link_names	(		self,
			group = None
	)

Get the links that make up a group. If no group name is specified,
all the links in the robot model are returned.

Definition at line 178 of file robot.py.

def moveit_commander.robot.RobotCommander.get_planning_frame

(

self

)

Get the frame of reference in which planning is done (and environment
is maintained)

Definition at line 152 of file robot.py.

def moveit_commander.robot.RobotCommander.get_root_link

(

self

)

Get the name of the root link of the robot model 

Definition at line 159 of file robot.py.

def moveit_commander.robot.RobotCommander.has_group	(		self,
			name
	)

@param name str: Name of movegroup
@rtype: bool

Definition at line 241 of file robot.py.

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Member Data Documentation

moveit_commander::robot.RobotCommander::_groups [private]

Definition at line 147 of file robot.py.

moveit_commander::robot.RobotCommander::_joint_owner_group [private]

Definition at line 147 of file robot.py.

moveit_commander::robot.RobotCommander::_r [private]

Definition at line 147 of file robot.py.

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

• robot.py