arm_navigation_msgs Namespace Reference

Functions
void	addGoalConstraintToMoveArmGoal (const arm_navigation_msgs::SimplePoseConstraint &pose_constraint, arm_navigation_msgs::MoveArmGoal &move_arm_goal)
	Add a goal constraint to the move arm action goal. More...
std::string	armNavigationErrorCodeToString (const arm_navigation_msgs::ArmNavigationErrorCodes &error_code)
	Convert an error code into a string value. More...
bool	constraintsToPoseStampedVector (const arm_navigation_msgs::Constraints &constraints, std::vector< geometry_msgs::PoseStamped > &poses)
	Extract pose information from a position and orientation constraint into a pose stamped message. More...
sensor_msgs::JointState	createJointState (std::vector< std::string > joint_names, std::vector< double > joint_values)
	Create a joint state from a std vector of names and values. More...
void	generateDisableAllowedCollisionsWithExclusions (const std::vector< std::string > &all_names, const std::vector< std::string > &exclude_names, std::vector< arm_navigation_msgs::CollisionOperation > &collision_operations)
	Generate ordered collision operates that disable all collisions in a vector of names except for a specied vector of names. More...
sensor_msgs::JointState	jointConstraintsToJointState (const std::vector< arm_navigation_msgs::JointConstraint > &constraints)
	Extract joint position information from a set of joint constraints into a joint state message. More...
trajectory_msgs::JointTrajectory	jointConstraintsToJointTrajectory (const std::vector< arm_navigation_msgs::JointConstraint > &constraints)
	Extract joint position information from a set of joint constraints into a joint state message. More...
trajectory_msgs::JointTrajectoryPoint	jointStateToJointTrajectoryPoint (const sensor_msgs::JointState &state)
	Convert a joint state to a joint trajectory point message. More...
arm_navigation_msgs::MultiDOFJointTrajectoryPoint	multiDOFJointStateToMultiDOFJointTrajectoryPoint (const arm_navigation_msgs::MultiDOFJointState &state)
	Convert a multi-dof state to a multi-dof joint trajectory point message. More...
arm_navigation_msgs::MultiDOFJointState	poseConstraintsToMultiDOFJointState (const std::vector< arm_navigation_msgs::PositionConstraint > &position_constraints, const std::vector< arm_navigation_msgs::OrientationConstraint > &orientation_constraints)
	Extract pose information from a position and orientation constraint into a multi dof joint state. More...
geometry_msgs::PoseStamped	poseConstraintsToPoseStamped (const arm_navigation_msgs::PositionConstraint &position_constraint, const arm_navigation_msgs::OrientationConstraint &orientation_constraint)
	Extract pose information from a position and orientation constraint into a pose stamped message. More...
void	poseConstraintToPositionOrientationConstraints (const arm_navigation_msgs::SimplePoseConstraint &pose_constraint, arm_navigation_msgs::PositionConstraint &position_constraint, arm_navigation_msgs::OrientationConstraint &orientation_constraint)
	Convert a simple pose constraint into a position and orientation constraint. More...
void	poseStampedToPositionOrientationConstraints (const geometry_msgs::PoseStamped &pose_stamped, const std::string &link_name, arm_navigation_msgs::PositionConstraint &position_constraint, arm_navigation_msgs::OrientationConstraint &orientation_constraint, double region_box_dimension=.01, double absolute_rpy_tolerance=.01)
	Convert a stamped pose into a position and orientation constraint. More...
void	printJointState (const sensor_msgs::JointState &joint_state)
	Print the joint state information. More...
void	robotStateToRobotTrajectoryPoint (const arm_navigation_msgs::RobotState &state, trajectory_msgs::JointTrajectoryPoint &point, arm_navigation_msgs::MultiDOFJointTrajectoryPoint &multi_dof_point)
	Convert a robot state to a robot trajectory message. More...

Function Documentation

void arm_navigation_msgs::addGoalConstraintToMoveArmGoal	(	const arm_navigation_msgs::SimplePoseConstraint &	pose_constraint,
		arm_navigation_msgs::MoveArmGoal &	move_arm_goal
	)

Add a goal constraint to the move arm action goal.

Parameters

A	reference to a simple pose constraint.
A	reference to a move arm goal message. The pose constraint will be added to the goal message as a position and orientation constraint.

Definition at line 48 of file utils.h.

std::string arm_navigation_msgs::armNavigationErrorCodeToString ( const arm_navigation_msgs::ArmNavigationErrorCodes &  error_code )

inline

Convert an error code into a string value.

Parameters

error_code

The input error code

Returns

The resultant string message

Definition at line 254 of file convert_messages.h.

bool arm_navigation_msgs::constraintsToPoseStampedVector ( const arm_navigation_msgs::Constraints &  constraints, std::vector< geometry_msgs::PoseStamped > &  poses  )

inline

Extract pose information from a position and orientation constraint into a pose stamped message.

Parameters

The	input position constraint
The	input orientation constraint

Returns

The nominal position and orientation from the constraints are encoded into the output pose message

Definition at line 342 of file convert_messages.h.

sensor_msgs::JointState arm_navigation_msgs::createJointState ( std::vector< std::string >  joint_names, std::vector< double >  joint_values  )

inline

Create a joint state from a std vector of names and values.

Parameters

The	input vector of joint names
The	input vector of joint values

Returns

The resultant joint state

Definition at line 154 of file convert_messages.h.

void arm_navigation_msgs::generateDisableAllowedCollisionsWithExclusions ( const std::vector< std::string > &  all_names, const std::vector< std::string > &  exclude_names, std::vector< arm_navigation_msgs::CollisionOperation > &  collision_operations  )

inline

Generate ordered collision operates that disable all collisions in a vector of names except for a specied vector of names.

Parameters

All	names
Names	to exclude
Vector	for appending collision_operations

Definition at line 64 of file utils.h.

sensor_msgs::JointState arm_navigation_msgs::jointConstraintsToJointState ( const std::vector< arm_navigation_msgs::JointConstraint > &  constraints )

inline

Extract joint position information from a set of joint constraints into a joint state message.

Parameters

The	input vector of joint constraints

Returns

The nominal joint positions from the joint constraints are encoded into the joint state message.

Definition at line 99 of file convert_messages.h.

trajectory_msgs::JointTrajectory arm_navigation_msgs::jointConstraintsToJointTrajectory ( const std::vector< arm_navigation_msgs::JointConstraint > &  constraints )

inline

Extract joint position information from a set of joint constraints into a joint state message.

Parameters

The	input vector of joint constraints

Returns

The nominal joint positions from the joint constraints are encoded into the joint state message.

Definition at line 117 of file convert_messages.h.

trajectory_msgs::JointTrajectoryPoint arm_navigation_msgs::jointStateToJointTrajectoryPoint ( const sensor_msgs::JointState &  state )

inline

Convert a joint state to a joint trajectory point message.

Parameters

The	input joint state message

Returns

The output joint trajectory point message only contains position information from the joint state message.

Definition at line 60 of file convert_messages.h.

arm_navigation_msgs::MultiDOFJointTrajectoryPoint arm_navigation_msgs::multiDOFJointStateToMultiDOFJointTrajectoryPoint ( const arm_navigation_msgs::MultiDOFJointState &  state )

inline

Convert a multi-dof state to a multi-dof joint trajectory point message.

Parameters

The	input multi-dof state

Returns

The output multi-dof joint trajectory point .

Definition at line 72 of file convert_messages.h.

arm_navigation_msgs::MultiDOFJointState arm_navigation_msgs::poseConstraintsToMultiDOFJointState ( const std::vector< arm_navigation_msgs::PositionConstraint > &  position_constraints, const std::vector< arm_navigation_msgs::OrientationConstraint > &  orientation_constraints  )

inline

Extract pose information from a position and orientation constraint into a multi dof joint state.

Parameters

The	input position constraint
The	input orientation constraint

Returns

The nominal position and orientation from the constraints are encoded into the output pose message

Definition at line 366 of file convert_messages.h.

geometry_msgs::PoseStamped arm_navigation_msgs::poseConstraintsToPoseStamped ( const arm_navigation_msgs::PositionConstraint &  position_constraint, const arm_navigation_msgs::OrientationConstraint &  orientation_constraint  )

inline

Extract pose information from a position and orientation constraint into a pose stamped message.

Parameters

The	input position constraint
The	input orientation constraint

Returns

The nominal position and orientation from the constraints are encoded into the output pose message

Definition at line 136 of file convert_messages.h.

void arm_navigation_msgs::poseConstraintToPositionOrientationConstraints ( const arm_navigation_msgs::SimplePoseConstraint &  pose_constraint, arm_navigation_msgs::PositionConstraint &  position_constraint, arm_navigation_msgs::OrientationConstraint &  orientation_constraint  )

inline

Convert a simple pose constraint into a position and orientation constraint.

Parameters

The	input pose constraint of SimplePoseConstraint form
The	output position constraint

Returns

The output orientation constraint

Definition at line 168 of file convert_messages.h.

void arm_navigation_msgs::poseStampedToPositionOrientationConstraints ( const geometry_msgs::PoseStamped &  pose_stamped, const std::string &  link_name, arm_navigation_msgs::PositionConstraint &  position_constraint, arm_navigation_msgs::OrientationConstraint &  orientation_constraint, double  region_box_dimension = .01, double  absolute_rpy_tolerance = .01  )

inline

Convert a stamped pose into a position and orientation constraint.

Parameters

The	input pose stamped
The	output position constraint
(Optional)	The size of constraint region cube
(Optional)	The

Returns

The output orientation constraint

Definition at line 205 of file convert_messages.h.

void arm_navigation_msgs::printJointState ( const sensor_msgs::JointState &  joint_state )

inline

Print the joint state information.

Parameters

The	joint state information to be printed

Definition at line 235 of file convert_messages.h.

void arm_navigation_msgs::robotStateToRobotTrajectoryPoint ( const arm_navigation_msgs::RobotState &  state, trajectory_msgs::JointTrajectoryPoint &  point, arm_navigation_msgs::MultiDOFJointTrajectoryPoint &  multi_dof_point  )

inline

Convert a robot state to a robot trajectory message.

Parameters

The	input robot state

Returns

The output robot trajectory point

Definition at line 85 of file convert_messages.h.