#include <pick_place_action_capability.h>
Public Member Functions | |
virtual void | initialize () |
MoveGroupPickPlaceAction () | |
Public Member Functions inherited from move_group::MoveGroupCapability | |
const std::string & | getName () const |
MoveGroupCapability (const std::string &capability_name) | |
void | setContext (const MoveGroupContextPtr &context) |
virtual | ~MoveGroupCapability () |
Private Member Functions | |
void | executePickupCallback (const moveit_msgs::PickupGoalConstPtr &goal) |
void | executePickupCallback_PlanAndExecute (const moveit_msgs::PickupGoalConstPtr &goal, moveit_msgs::PickupResult &action_res) |
void | executePickupCallback_PlanOnly (const moveit_msgs::PickupGoalConstPtr &goal, moveit_msgs::PickupResult &action_res) |
void | executePlaceCallback (const moveit_msgs::PlaceGoalConstPtr &goal) |
void | executePlaceCallback_PlanAndExecute (const moveit_msgs::PlaceGoalConstPtr &goal, moveit_msgs::PlaceResult &action_res) |
void | executePlaceCallback_PlanOnly (const moveit_msgs::PlaceGoalConstPtr &goal, moveit_msgs::PlaceResult &action_res) |
void | fillGrasps (moveit_msgs::PickupGoal &goal) |
bool | planUsingPickPlace_Pickup (const moveit_msgs::PickupGoal &goal, moveit_msgs::PickupResult *action_res, plan_execution::ExecutableMotionPlan &plan) |
bool | planUsingPickPlace_Place (const moveit_msgs::PlaceGoal &goal, moveit_msgs::PlaceResult *action_res, plan_execution::ExecutableMotionPlan &plan) |
void | preemptPickupCallback () |
void | preemptPlaceCallback () |
void | setPickupState (MoveGroupState state) |
void | setPlaceState (MoveGroupState state) |
void | startPickupExecutionCallback () |
void | startPickupLookCallback () |
void | startPlaceExecutionCallback () |
void | startPlaceLookCallback () |
Private Attributes | |
std::unique_ptr< moveit_msgs::AttachedCollisionObject > | diff_attached_object_ |
ros::ServiceClient | grasp_planning_service_ |
pick_place::PickPlacePtr | pick_place_ |
std::unique_ptr< actionlib::SimpleActionServer< moveit_msgs::PickupAction > > | pickup_action_server_ |
moveit_msgs::PickupFeedback | pickup_feedback_ |
MoveGroupState | pickup_state_ |
std::unique_ptr< actionlib::SimpleActionServer< moveit_msgs::PlaceAction > > | place_action_server_ |
moveit_msgs::PlaceFeedback | place_feedback_ |
MoveGroupState | place_state_ |
Additional Inherited Members | |
Protected Member Functions inherited from move_group::MoveGroupCapability | |
planning_interface::MotionPlanRequest | clearRequestStartState (const planning_interface::MotionPlanRequest &request) const |
moveit_msgs::PlanningScene | clearSceneRobotState (const moveit_msgs::PlanningScene &scene) const |
void | convertToMsg (const robot_trajectory::RobotTrajectoryPtr &trajectory, moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const |
void | convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const |
void | convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, std::vector< moveit_msgs::RobotTrajectory > &trajectory_msg) const |
std::string | getActionResultString (const moveit_msgs::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only) |
bool | performTransform (geometry_msgs::PoseStamped &pose_msg, const std::string &target_frame) const |
std::string | stateToStr (MoveGroupState state) const |
Protected Attributes inherited from move_group::MoveGroupCapability | |
std::string | capability_name_ |
MoveGroupContextPtr | context_ |
ros::NodeHandle | node_handle_ |
ros::NodeHandle | root_node_handle_ |
Definition at line 50 of file pick_place_action_capability.h.
move_group::MoveGroupPickPlaceAction::MoveGroupPickPlaceAction | ( | ) |
Definition at line 44 of file pick_place_action_capability.cpp.
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Definition at line 314 of file pick_place_action_capability.cpp.
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Definition at line 253 of file pick_place_action_capability.cpp.
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Definition at line 91 of file pick_place_action_capability.cpp.
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Definition at line 361 of file pick_place_action_capability.cpp.
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Definition at line 284 of file pick_place_action_capability.cpp.
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Definition at line 130 of file pick_place_action_capability.cpp.
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Definition at line 420 of file pick_place_action_capability.cpp.
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Implements move_group::MoveGroupCapability.
Definition at line 49 of file pick_place_action_capability.cpp.
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Definition at line 169 of file pick_place_action_capability.cpp.
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Definition at line 211 of file pick_place_action_capability.cpp.
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Definition at line 398 of file pick_place_action_capability.cpp.
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Definition at line 402 of file pick_place_action_capability.cpp.
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Definition at line 406 of file pick_place_action_capability.cpp.
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Definition at line 413 of file pick_place_action_capability.cpp.
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Definition at line 71 of file pick_place_action_capability.cpp.
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Definition at line 76 of file pick_place_action_capability.cpp.
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Definition at line 81 of file pick_place_action_capability.cpp.
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Definition at line 86 of file pick_place_action_capability.cpp.
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Definition at line 96 of file pick_place_action_capability.h.
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Definition at line 101 of file pick_place_action_capability.h.
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Definition at line 88 of file pick_place_action_capability.h.
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Definition at line 90 of file pick_place_action_capability.h.
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Definition at line 91 of file pick_place_action_capability.h.
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Definition at line 98 of file pick_place_action_capability.h.
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Definition at line 93 of file pick_place_action_capability.h.
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Definition at line 94 of file pick_place_action_capability.h.
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Definition at line 99 of file pick_place_action_capability.h.