Public Member Functions
void	allowLooking (bool flag)
void	allowReplanning (bool flag)
bool	attachObject (const std::string &object, const std::string &link, const std::vector< std::string > &touch_links)
void	clearPathConstraints ()
void	clearPoseTarget (const std::string &end_effector_link)
void	clearPoseTargets ()
double	computeCartesianPath (const std::vector< geometry_msgs::Pose > &waypoints, double step, double jump_threshold, moveit_msgs::RobotTrajectory &msg, const moveit_msgs::Constraints &path_constraints, bool avoid_collisions, moveit_msgs::MoveItErrorCodes &error_code)
void	constructGoal (moveit_msgs::MoveGroupGoal &goal_out)
void	constructGoal (moveit_msgs::PickupGoal &goal_out, const std::string &object)
void	constructGoal (moveit_msgs::PlaceGoal &goal_out, const std::string &object)
bool	detachObject (const std::string &name)
MoveItErrorCode	execute (const Plan &plan, bool wait)
bool	getCurrentState (robot_state::RobotStatePtr &current_state, double wait_seconds=1.0)
std::string	getDefaultPlannerId (const std::string &group) const
const std::string &	getEndEffector () const
const std::string &	getEndEffectorLink () const
double	getGoalJointTolerance () const
double	getGoalOrientationTolerance () const
double	getGoalPositionTolerance () const
bool	getInterfaceDescription (moveit_msgs::PlannerInterfaceDescription &desc)
const robot_model::JointModelGroup *	getJointModelGroup () const
robot_state::RobotState &	getJointStateTarget ()
std::vector< std::string >	getKnownConstraints () const
const Options &	getOptions () const
moveit_msgs::Constraints	getPathConstraints () const
std::map< std::string, std::string >	getPlannerParams (const std::string &planner_id, const std::string &group="")
double	getPlanningTime () const
const std::string &	getPoseReferenceFrame () const
const geometry_msgs::PoseStamped &	getPoseTarget (const std::string &end_effector_link) const
const std::vector < geometry_msgs::PoseStamped > &	getPoseTargets (const std::string &end_effector_link) const
double	getReplanningDelay () const
const robot_model::RobotModelConstPtr &	getRobotModel () const
robot_state::RobotStatePtr	getStartState ()
ActiveTargetType	getTargetType () const
const boost::shared_ptr < tf::Transformer > &	getTF () const
bool	hasPoseTarget (const std::string &end_effector_link) const
void	initializeConstraintsStorage (const std::string &host, unsigned int port)
MoveItErrorCode	move (bool wait)
	MoveGroupImpl (const Options &opt, const boost::shared_ptr< tf::Transformer > &tf, const ros::WallDuration &wait_for_servers)
MoveItErrorCode	pick (const std::string &object, const std::vector< moveit_msgs::Grasp > &grasps)
MoveItErrorCode	place (const std::string &object, const std::vector< geometry_msgs::PoseStamped > &poses)
	Place an object at one of the specified possible locations.
MoveItErrorCode	place (const std::string &object, const std::vector< moveit_msgs::PlaceLocation > &locations)
MoveItErrorCode	plan (Plan &plan)
MoveItErrorCode	planGraspsAndPick (const std::string &object)
MoveItErrorCode	planGraspsAndPick (const moveit_msgs::CollisionObject &object)
void	setEndEffectorLink (const std::string &end_effector)
void	setGoalJointTolerance (double tolerance)
void	setGoalOrientationTolerance (double tolerance)
void	setGoalPositionTolerance (double tolerance)
bool	setJointValueTarget (const geometry_msgs::Pose &eef_pose, const std::string &end_effector_link, const std::string &frame, bool approx)
void	setMaxAccelerationScalingFactor (double max_acceleration_scaling_factor)
void	setMaxVelocityScalingFactor (double max_velocity_scaling_factor)
void	setNumPlanningAttempts (unsigned int num_planning_attempts)
void	setPathConstraints (const moveit_msgs::Constraints &constraint)
bool	setPathConstraints (const std::string &constraint)
void	setPlannerId (const std::string &planner_id)
void	setPlannerParams (const std::string &planner_id, const std::string &group, const std::map< std::string, std::string > &params, bool replace=false)
void	setPlanningTime (double seconds)
void	setPoseReferenceFrame (const std::string &pose_reference_frame)
bool	setPoseTargets (const std::vector< geometry_msgs::PoseStamped > &poses, const std::string &end_effector_link)
void	setReplanningDelay (double delay)
void	setStartState (const robot_state::RobotState &start_state)
void	setStartStateToCurrentState ()
void	setSupportSurfaceName (const std::string &support_surface)
void	setTargetType (ActiveTargetType type)
void	setWorkspace (double minx, double miny, double minz, double maxx, double maxy, double maxz)
bool	startStateMonitor (double wait)
void	stop ()
template<typename T >
void	waitForAction (const T &action, const std::string &name, const ros::WallTime &timeout, double allotted_time)
void	waitForExecuteActionOrService (ros::WallTime timeout)
	~MoveGroupImpl ()
Private Member Functions
void	initializeConstraintsStorageThread (const std::string &host, unsigned int port)
Private Attributes
ActiveTargetType	active_target_
ros::Publisher	attached_object_publisher_
bool	can_look_
bool	can_replan_
ros::ServiceClient	cartesian_path_service_
robot_state::RobotStatePtr	considered_start_state_
boost::scoped_ptr< boost::thread >	constraints_init_thread_
boost::scoped_ptr < moveit_warehouse::ConstraintsStorage >	constraints_storage_
planning_scene_monitor::CurrentStateMonitorPtr	current_state_monitor_
std::string	end_effector_link_
boost::scoped_ptr < actionlib::SimpleActionClient < moveit_msgs::ExecuteTrajectoryAction > >	execute_action_client_
ros::ServiceClient	execute_service_
ros::ServiceClient	get_params_service_
double	goal_joint_tolerance_
double	goal_orientation_tolerance_
double	goal_position_tolerance_
bool	initializing_constraints_
const robot_model::JointModelGroup *	joint_model_group_
robot_state::RobotStatePtr	joint_state_target_
double	max_acceleration_scaling_factor_
double	max_velocity_scaling_factor_
boost::scoped_ptr < actionlib::SimpleActionClient < moveit_msgs::MoveGroupAction > >	move_action_client_
ros::NodeHandle	node_handle_
unsigned int	num_planning_attempts_
Options	opt_
boost::scoped_ptr < moveit_msgs::Constraints >	path_constraints_
boost::scoped_ptr < actionlib::SimpleActionClient < moveit_msgs::PickupAction > >	pick_action_client_
boost::scoped_ptr < actionlib::SimpleActionClient < moveit_msgs::PlaceAction > >	place_action_client_
ros::ServiceClient	plan_grasps_service_
std::string	planner_id_
double	planning_time_
std::string	pose_reference_frame_
std::map< std::string, std::vector < geometry_msgs::PoseStamped > >	pose_targets_
ros::ServiceClient	query_service_
double	replan_delay_
robot_model::RobotModelConstPtr	robot_model_
ros::ServiceClient	set_params_service_
std::string	support_surface_
boost::shared_ptr < tf::Transformer >	tf_
ros::Publisher	trajectory_event_publisher_
moveit_msgs::WorkspaceParameters	workspace_parameters_

Detailed Description

Definition at line 92 of file move_group.cpp.

Constructor & Destructor Documentation

moveit::planning_interface::MoveGroup::MoveGroupImpl::MoveGroupImpl	(	const Options &	opt,
		const boost::shared_ptr< tf::Transformer > &	tf,
		const ros::WallDuration &	wait_for_servers
	)		`[inline]`

Definition at line 95 of file move_group.cpp.

moveit::planning_interface::MoveGroup::MoveGroupImpl::~MoveGroupImpl ( ) [inline]

Definition at line 306 of file move_group.cpp.

Member Function Documentation

void moveit::planning_interface::MoveGroup::MoveGroupImpl::allowLooking ( bool flag ) [inline]

Definition at line 1060 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::allowReplanning ( bool flag ) [inline]

Definition at line 1066 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::attachObject	(	const std::string &	object,
		const std::string &	link,
		const std::vector< std::string > &	touch_links
	)		`[inline]`

Definition at line 969 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::clearPathConstraints ( ) [inline]

Definition at line 1200 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::clearPoseTarget ( const std::string & end_effector_link ) [inline]

Definition at line 492 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::clearPoseTargets ( ) [inline]

Definition at line 497 of file move_group.cpp.

double moveit::planning_interface::MoveGroup::MoveGroupImpl::computeCartesianPath	(	const std::vector< geometry_msgs::Pose > &	waypoints,
		double	step,
		double	jump_threshold,
		moveit_msgs::RobotTrajectory &	msg,
		const moveit_msgs::Constraints &	path_constraints,
		bool	avoid_collisions,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		`[inline]`

Definition at line 920 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::constructGoal ( moveit_msgs::MoveGroupGoal & goal_out ) [inline]

Definition at line 1083 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::constructGoal	(	moveit_msgs::PickupGoal &	goal_out,
		const std::string &	object
	)		`[inline]`

Definition at line 1143 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::constructGoal	(	moveit_msgs::PlaceGoal &	goal_out,
		const std::string &	object
	)		`[inline]`

Definition at line 1161 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::detachObject ( const std::string & name ) [inline]

Definition at line 995 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::execute	(	const Plan &	plan,
		bool	wait
	)		`[inline]`

Definition at line 870 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::getCurrentState	(	robot_state::RobotStatePtr &	current_state,
		double	wait_seconds = `1.0`
	)		`[inline]`

Definition at line 618 of file move_group.cpp.

std::string moveit::planning_interface::MoveGroup::MoveGroupImpl::getDefaultPlannerId ( const std::string & group ) const [inline]

Definition at line 376 of file move_group.cpp.

const std::string& moveit::planning_interface::MoveGroup::MoveGroupImpl::getEndEffector ( ) const [inline]

Definition at line 507 of file move_group.cpp.

const std::string& moveit::planning_interface::MoveGroup::MoveGroupImpl::getEndEffectorLink ( ) const [inline]

Definition at line 502 of file move_group.cpp.

double moveit::planning_interface::MoveGroup::MoveGroupImpl::getGoalJointTolerance ( ) const [inline]

Definition at line 1029 of file move_group.cpp.

double moveit::planning_interface::MoveGroup::MoveGroupImpl::getGoalOrientationTolerance ( ) const [inline]

Definition at line 1024 of file move_group.cpp.

double moveit::planning_interface::MoveGroup::MoveGroupImpl::getGoalPositionTolerance ( ) const [inline]

Definition at line 1019 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::getInterfaceDescription ( moveit_msgs::PlannerInterfaceDescription & desc ) [inline]

Definition at line 332 of file move_group.cpp.

const robot_model::JointModelGroup* moveit::planning_interface::MoveGroup::MoveGroupImpl::getJointModelGroup ( ) const [inline]

Definition at line 327 of file move_group.cpp.

robot_state::RobotState& moveit::planning_interface::MoveGroup::MoveGroupImpl::getJointStateTarget ( ) [inline]

Definition at line 409 of file move_group.cpp.

std::vector<std::string> moveit::planning_interface::MoveGroup::MoveGroupImpl::getKnownConstraints ( ) const [inline]

Definition at line 1205 of file move_group.cpp.

const Options& moveit::planning_interface::MoveGroup::MoveGroupImpl::getOptions ( ) const [inline]

Definition at line 317 of file move_group.cpp.

moveit_msgs::Constraints moveit::planning_interface::MoveGroup::MoveGroupImpl::getPathConstraints ( ) const [inline]

Definition at line 1220 of file move_group.cpp.

std::map<std::string, std::string> moveit::planning_interface::MoveGroup::MoveGroupImpl::getPlannerParams	(	const std::string &	planner_id,
		const std::string &	group = `""`
	)		`[inline]`

Definition at line 345 of file move_group.cpp.

double moveit::planning_interface::MoveGroup::MoveGroupImpl::getPlanningTime ( ) const [inline]

Definition at line 1055 of file move_group.cpp.

const std::string& moveit::planning_interface::MoveGroup::MoveGroupImpl::getPoseReferenceFrame ( ) const [inline]

Definition at line 587 of file move_group.cpp.

const geometry_msgs::PoseStamped& moveit::planning_interface::MoveGroup::MoveGroupImpl::getPoseTarget ( const std::string & end_effector_link ) const [inline]

Definition at line 546 of file move_group.cpp.

const std::vector<geometry_msgs::PoseStamped>& moveit::planning_interface::MoveGroup::MoveGroupImpl::getPoseTargets ( const std::string & end_effector_link ) const [inline]

Definition at line 562 of file move_group.cpp.

double moveit::planning_interface::MoveGroup::MoveGroupImpl::getReplanningDelay ( ) const [inline]

Definition at line 1078 of file move_group.cpp.

const robot_model::RobotModelConstPtr& moveit::planning_interface::MoveGroup::MoveGroupImpl::getRobotModel ( ) const [inline]

Definition at line 322 of file move_group.cpp.

robot_state::RobotStatePtr moveit::planning_interface::MoveGroup::MoveGroupImpl::getStartState ( ) [inline]

Definition at line 424 of file move_group.cpp.

ActiveTargetType moveit::planning_interface::MoveGroup::MoveGroupImpl::getTargetType ( ) const [inline]

Definition at line 597 of file move_group.cpp.

const boost::shared_ptr<tf::Transformer>& moveit::planning_interface::MoveGroup::MoveGroupImpl::getTF ( ) const [inline]

Definition at line 312 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::hasPoseTarget ( const std::string & end_effector_link ) const [inline]

Definition at line 540 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::initializeConstraintsStorage	(	const std::string &	host,
		unsigned int	port
	)		`[inline]`

Definition at line 1228 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::initializeConstraintsStorageThread	(	const std::string &	host,
		unsigned int	port
	)		`[inline, private]`

Definition at line 1250 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::move ( bool wait ) [inline]

Definition at line 827 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::pick	(	const std::string &	object,
		const std::vector< moveit_msgs::Grasp > &	grasps
	)		`[inline]`

Definition at line 704 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::place	(	const std::string &	object,
		const std::vector< geometry_msgs::PoseStamped > &	poses
	)		`[inline]`

Place an object at one of the specified possible locations.

Definition at line 639 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::place	(	const std::string &	object,
		const std::vector< moveit_msgs::PlaceLocation > &	locations
	)		`[inline]`

Definition at line 664 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::plan ( Plan & plan ) [inline]

Definition at line 788 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::planGraspsAndPick ( const std::string & object ) [inline]

Definition at line 743 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::planGraspsAndPick ( const moveit_msgs::CollisionObject & object ) [inline]

Definition at line 759 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setEndEffectorLink ( const std::string & end_effector ) [inline]

Definition at line 487 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setGoalJointTolerance ( double tolerance ) [inline]

Definition at line 1034 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setGoalOrientationTolerance ( double tolerance ) [inline]

Definition at line 1044 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setGoalPositionTolerance ( double tolerance ) [inline]

Definition at line 1039 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::setJointValueTarget	(	const geometry_msgs::Pose &	eef_pose,
		const std::string &	end_effector_link,
		const std::string &	frame,
		bool	approx
	)		`[inline]`

Definition at line 436 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setMaxAccelerationScalingFactor ( double max_acceleration_scaling_factor ) [inline]

Definition at line 404 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setMaxVelocityScalingFactor ( double max_velocity_scaling_factor ) [inline]

Definition at line 399 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setNumPlanningAttempts ( unsigned int num_planning_attempts ) [inline]

Definition at line 394 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPathConstraints ( const moveit_msgs::Constraints & constraint ) [inline]

Definition at line 1178 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::setPathConstraints ( const std::string & constraint ) [inline]

Definition at line 1183 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPlannerId ( const std::string & planner_id ) [inline]

Definition at line 389 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPlannerParams	(	const std::string &	planner_id,
		const std::string &	group,
		const std::map< std::string, std::string > &	params,
		bool	replace = `false`
	)		`[inline]`

Definition at line 360 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPlanningTime ( double seconds ) [inline]

Definition at line 1049 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPoseReferenceFrame ( const std::string & pose_reference_frame ) [inline]

Definition at line 577 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::setPoseTargets	(	const std::vector< geometry_msgs::PoseStamped > &	poses,
		const std::string &	end_effector_link
	)		`[inline]`

Definition at line 521 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setReplanningDelay ( double delay ) [inline]

Definition at line 1072 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setStartState ( const robot_state::RobotState & start_state ) [inline]

Definition at line 414 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setStartStateToCurrentState ( ) [inline]

Definition at line 419 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setSupportSurfaceName ( const std::string & support_surface ) [inline]

Definition at line 582 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setTargetType ( ActiveTargetType type ) [inline]

Definition at line 592 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setWorkspace	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz
	)		`[inline]`

Definition at line 1237 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::startStateMonitor ( double wait ) [inline]

Definition at line 602 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::stop ( void ) [inline]

Definition at line 959 of file move_group.cpp.

template<typename T >

void moveit::planning_interface::MoveGroup::MoveGroupImpl::waitForAction	(	const T &	action,
		const std::string &	name,
		const ros::WallTime &	timeout,
		double	allotted_time
	)		`[inline]`