moveit::planning_interface Namespace Reference

Simple interface to MoveIt! components. More...

Classes
class	MoveGroup
	Deprecated Client interface to access interfaces of the move_group node. More...
class	MoveGroupInterface
	Client class to conveniently use the ROS interfaces provided by the move_group node. 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 More...
planning_scene_monitor::CurrentStateMonitorPtr	getSharedStateMonitor (const robot_model::RobotModelConstPtr &kmodel, const boost::shared_ptr< tf::Transformer > &tf, ros::NodeHandle nh)
	getSharedStateMonitor More...
boost::shared_ptr< tf::Transformer >	getSharedTF ()
	MOVEIT_CLASS_FORWARD (PlanningSceneInterface)
	MOVEIT_CLASS_FORWARD (MoveGroupInterface)

Variables
const std::string	GRASP_PLANNING_SERVICE_NAME = "plan_grasps"
moveit::planning_interface::MoveGroup	MOVEIT_DEPRECATED

Detailed Description

Simple interface to MoveIt! components.

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

(

MoveGroupInterface

)

Variable Documentation

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

Definition at line 78 of file move_group_interface.cpp.

moveit::planning_interface::MoveGroup moveit::planning_interface::MOVEIT_DEPRECATED