move_action_capability.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_
38 #define MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_
39 
42 #include <moveit_msgs/MoveGroupAction.h>
43 #include <memory>
44 
45 namespace move_group
46 {
48 {
49 public:
51 
52  virtual void initialize();
53 
54 private:
55  void executeMoveCallback(const moveit_msgs::MoveGroupGoalConstPtr& goal);
56  void executeMoveCallback_PlanAndExecute(const moveit_msgs::MoveGroupGoalConstPtr& goal,
57  moveit_msgs::MoveGroupResult& action_res);
58  void executeMoveCallback_PlanOnly(const moveit_msgs::MoveGroupGoalConstPtr& goal,
59  moveit_msgs::MoveGroupResult& action_res);
61  void startMoveLookCallback();
62  void preemptMoveCallback();
63  void setMoveState(MoveGroupState state);
66 
67  std::unique_ptr<actionlib::SimpleActionServer<moveit_msgs::MoveGroupAction> > move_action_server_;
68  moveit_msgs::MoveGroupFeedback move_feedback_;
69 
72 };
73 }
74 
75 #endif
void executeMoveCallback_PlanAndExecute(const moveit_msgs::MoveGroupGoalConstPtr &goal, moveit_msgs::MoveGroupResult &action_res)
moveit_msgs::MoveGroupFeedback move_feedback_
void executeMoveCallback_PlanOnly(const moveit_msgs::MoveGroupGoalConstPtr &goal, moveit_msgs::MoveGroupResult &action_res)
void executeMoveCallback(const moveit_msgs::MoveGroupGoalConstPtr &goal)
moveit_msgs::MotionPlanRequest MotionPlanRequest
std::unique_ptr< actionlib::SimpleActionServer< moveit_msgs::MoveGroupAction > > move_action_server_
void setMoveState(MoveGroupState state)
bool planUsingPlanningPipeline(const planning_interface::MotionPlanRequest &req, plan_execution::ExecutableMotionPlan &plan)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sun Oct 18 2020 13:18:14