moveit::planning_interface Namespace Reference

Simple interface to MoveIt! components. More...

Classes
class	MoveGroup
	Client class for the MoveGroup action. This class includes many default settings to make things easy to use. More...
class	MoveItErrorCode
class	PlanningSceneInterface
Functions
robot_model::RobotModelConstPtr	getSharedRobotModel (const std::string &robot_description)
planning_scene_monitor::CurrentStateMonitorPtr	getSharedStateMonitor (const robot_model::RobotModelConstPtr &kmodel, const boost::shared_ptr< tf::Transformer > &tf)
	getSharedStateMonitor is a simpler version of getSharedStateMonitor(const robot_model::RobotModelConstPtr &kmodel, const boost::shared_ptr<tf::Transformer> &tf, ros::NodeHandle nh = ros::NodeHandle() ). It calls this function using the default constructed ros::NodeHandle
planning_scene_monitor::CurrentStateMonitorPtr	getSharedStateMonitor (const robot_model::RobotModelConstPtr &kmodel, const boost::shared_ptr< tf::Transformer > &tf, ros::NodeHandle nh)
	getSharedStateMonitor
boost::shared_ptr < tf::Transformer >	getSharedTF ()
	MOVEIT_CLASS_FORWARD (PlanningSceneInterface)
	MOVEIT_CLASS_FORWARD (MoveGroup)
Variables
const std::string	GRASP_PLANNING_SERVICE_NAME = "plan_grasps"

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Detailed Description

Simple interface to MoveIt! components.

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Function Documentation

robot_model::RobotModelConstPtr moveit::planning_interface::getSharedRobotModel

(

const std::string &

robot_description

)

Definition at line 89 of file common_objects.cpp.

planning_scene_monitor::CurrentStateMonitorPtr moveit::planning_interface::getSharedStateMonitor	(	const robot_model::RobotModelConstPtr &	kmodel,
		const boost::shared_ptr< tf::Transformer > &	tf
	)

getSharedStateMonitor is a simpler version of getSharedStateMonitor(const robot_model::RobotModelConstPtr &kmodel, const boost::shared_ptr<tf::Transformer> &tf, ros::NodeHandle nh = ros::NodeHandle() ). It calls this function using the default constructed ros::NodeHandle

Parameters:

kmodel
tf

Returns:

Definition at line 105 of file common_objects.cpp.

planning_scene_monitor::CurrentStateMonitorPtr moveit::planning_interface::getSharedStateMonitor	(	const robot_model::RobotModelConstPtr &	kmodel,
		const boost::shared_ptr< tf::Transformer > &	tf,
		ros::NodeHandle	nh
	)

getSharedStateMonitor

Parameters:

kmodel
tf
nh	A ros::NodeHandle to pass node specific configurations, such as callbacks queues.

Returns:

Definition at line 111 of file common_objects.cpp.

boost::shared_ptr< tf::Transformer > moveit::planning_interface::getSharedTF

(

)

Definition at line 80 of file common_objects.cpp.

moveit::planning_interface::MOVEIT_CLASS_FORWARD

(

PlanningSceneInterface

)

moveit::planning_interface::MOVEIT_CLASS_FORWARD

(

MoveGroup

)

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Variable Documentation

const std::string moveit::planning_interface::GRASP_PLANNING_SERVICE_NAME = "plan_grasps"

Definition at line 79 of file move_group.cpp.