Class to define a robot configuration in space with the help of joint values. More...

#include <jointconfiguration.h>

Inheritance diagram for pilz_industrial_motion_testutils::JointConfiguration:

Public Member Functions
double	getJoint (const size_t index) const

const std::vector< double >	getJoints () const

	JointConfiguration ()

	JointConfiguration (const std::string &group_name, const std::vector< double > &config, CreateJointNameFunc &&create_joint_name_func)

	JointConfiguration (const std::string &group_name, const std::vector< double > &config, const moveit::core::RobotModelConstPtr &robot_model)

void	setCreateJointNameFunc (CreateJointNameFunc create_joint_name_func)

void	setJoint (const size_t index, const double value)

size_t	size () const

moveit_msgs::Constraints	toGoalConstraints () const override

moveit_msgs::RobotState	toMoveitMsgsRobotState () const override

robot_state::RobotState	toRobotState () const

sensor_msgs::JointState	toSensorMsg () const

Public Member Functions inherited from pilz_industrial_motion_testutils::RobotConfiguration
void	clearModel ()

std::string	getGroupName () const

	RobotConfiguration ()

	RobotConfiguration (const std::string &group_name)

	RobotConfiguration (const std::string &group_name, const moveit::core::RobotModelConstPtr &robot_model)

void	setGroupName (const std::string &group_name)

void	setRobotModel (moveit::core::RobotModelConstPtr robot_model)

Private Member Functions
moveit_msgs::Constraints	toGoalConstraintsWithModel () const

moveit_msgs::Constraints	toGoalConstraintsWithoutModel () const

moveit_msgs::RobotState	toMoveitMsgsRobotStateWithModel () const

moveit_msgs::RobotState	toMoveitMsgsRobotStateWithoutModel () const

Private Attributes
CreateJointNameFunc	create_joint_name_func_

std::vector< double >	joints_
	Joint positions. More...

Additional Inherited Members
Protected Attributes inherited from pilz_industrial_motion_testutils::RobotConfiguration
std::string	group_name_

moveit::core::RobotModelConstPtr	robot_model_

Detailed Description

Class to define a robot configuration in space with the help of joint values.

Definition at line 48 of file jointconfiguration.h.

Constructor & Destructor Documentation

pilz_industrial_motion_testutils::JointConfiguration::JointConfiguration ( )

Definition at line 24 of file jointconfiguration.cpp.

pilz_industrial_motion_testutils::JointConfiguration::JointConfiguration	(	const std::string &	group_name,
		const std::vector< double > &	config,
		CreateJointNameFunc &&	create_joint_name_func
	)

Definition at line 28 of file jointconfiguration.cpp.

pilz_industrial_motion_testutils::JointConfiguration::JointConfiguration	(	const std::string &	group_name,
		const std::vector< double > &	config,
		const moveit::core::RobotModelConstPtr &	robot_model
	)

Definition at line 36 of file jointconfiguration.cpp.

Member Function Documentation

double pilz_industrial_motion_testutils::JointConfiguration::getJoint ( const size_t index ) const

inline

Definition at line 111 of file jointconfiguration.h.

const std::vector< double > pilz_industrial_motion_testutils::JointConfiguration::getJoints ( ) const

inline

Definition at line 116 of file jointconfiguration.h.

void pilz_industrial_motion_testutils::JointConfiguration::setCreateJointNameFunc ( CreateJointNameFunc create_joint_name_func )

inline

Definition at line 126 of file jointconfiguration.h.

void pilz_industrial_motion_testutils::JointConfiguration::setJoint	(	const size_t	index,
		const double	value
	)

inline

Definition at line 106 of file jointconfiguration.h.

size_t pilz_industrial_motion_testutils::JointConfiguration::size ( ) const

inline

Definition at line 121 of file jointconfiguration.h.

moveit_msgs::Constraints pilz_industrial_motion_testutils::JointConfiguration::toGoalConstraints ( ) const

inlineoverridevirtual

Implements pilz_industrial_motion_testutils::GoalConstraintMsgConvertible.

Definition at line 94 of file jointconfiguration.h.

moveit_msgs::Constraints pilz_industrial_motion_testutils::JointConfiguration::toGoalConstraintsWithModel ( ) const

private

Definition at line 64 of file jointconfiguration.cpp.

moveit_msgs::Constraints pilz_industrial_motion_testutils::JointConfiguration::toGoalConstraintsWithoutModel ( ) const

private

Definition at line 44 of file jointconfiguration.cpp.

moveit_msgs::RobotState pilz_industrial_motion_testutils::JointConfiguration::toMoveitMsgsRobotState ( ) const

inlineoverridevirtual

Implements pilz_industrial_motion_testutils::RobotStateMsgConvertible.

Definition at line 100 of file jointconfiguration.h.

moveit_msgs::RobotState pilz_industrial_motion_testutils::JointConfiguration::toMoveitMsgsRobotStateWithModel ( ) const

private

Definition at line 108 of file jointconfiguration.cpp.

moveit_msgs::RobotState pilz_industrial_motion_testutils::JointConfiguration::toMoveitMsgsRobotStateWithoutModel ( ) const

private

Definition at line 79 of file jointconfiguration.cpp.

robot_state::RobotState pilz_industrial_motion_testutils::JointConfiguration::toRobotState ( ) const

Definition at line 95 of file jointconfiguration.cpp.

sensor_msgs::JointState pilz_industrial_motion_testutils::JointConfiguration::toSensorMsg ( ) const

Definition at line 116 of file jointconfiguration.cpp.

Member Data Documentation

CreateJointNameFunc pilz_industrial_motion_testutils::JointConfiguration::create_joint_name_func_

private

Definition at line 89 of file jointconfiguration.h.

std::vector<double> pilz_industrial_motion_testutils::JointConfiguration::joints_

private

Joint positions.

Definition at line 87 of file jointconfiguration.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation