XArmSimplePlanner Class Reference

Public Member Functions
void	start ()
void	stop ()
	XArmSimplePlanner (const std::string plan_group_name)
	XArmSimplePlanner ()
	~XArmSimplePlanner ()

Static Public Attributes
static std::string	PLANNING_GROUP

Private Member Functions
bool	do_joint_plan (xarm_planner::joint_plan::Request &req, xarm_planner::joint_plan::Response &res)
bool	do_pose_plan (xarm_planner::pose_plan::Request &req, xarm_planner::pose_plan::Response &res)
bool	do_single_cartesian_plan (xarm_planner::single_straight_plan::Request &req, xarm_planner::single_straight_plan::Response &res)
bool	exec_plan_cb (xarm_planner::exec_plan::Request &req, xarm_planner::exec_plan::Response &res)
void	execute_plan_topic (const std_msgs::Bool::ConstPtr &exec)
void	init ()
void	show_trail (bool plan_result)

Private Attributes
ros::Publisher	display_path
ros::ServiceServer	exec_plan_srv
ros::Subscriber	exec_plan_sub
moveit::planning_interface::MoveGroupInterface	group
std::vector< std::string >	joint_names
moveit::planning_interface::MoveGroupInterface::Plan	my_xarm_plan
ros::NodeHandle	node_handle
ros::ServiceServer	plan_joint_srv
ros::ServiceServer	plan_pose_srv
moveit::planning_interface::PlanningSceneInterface	planning_scene_interface
ros::ServiceServer	sing_cart_srv
ros::AsyncSpinner	spinner
moveit_visual_tools::MoveItVisualTools *	visual_tools

Detailed Description

Definition at line 33 of file xarm_simple_planner.cpp.

Constructor & Destructor Documentation

XArmSimplePlanner::XArmSimplePlanner ( const std::string  plan_group_name )

inline

Definition at line 36 of file xarm_simple_planner.cpp.

XArmSimplePlanner::XArmSimplePlanner ( )

inline

Definition at line 37 of file xarm_simple_planner.cpp.

XArmSimplePlanner::~XArmSimplePlanner ( )

inline

Definition at line 38 of file xarm_simple_planner.cpp.

Member Function Documentation

bool XArmSimplePlanner::do_joint_plan ( xarm_planner::joint_plan::Request &  req, xarm_planner::joint_plan::Response &  res  )

private

Definition at line 160 of file xarm_simple_planner.cpp.

bool XArmSimplePlanner::do_pose_plan ( xarm_planner::pose_plan::Request &  req, xarm_planner::pose_plan::Response &  res  )

private

Definition at line 119 of file xarm_simple_planner.cpp.

bool XArmSimplePlanner::do_single_cartesian_plan ( xarm_planner::single_straight_plan::Request &  req, xarm_planner::single_straight_plan::Response &  res  )

private

Definition at line 136 of file xarm_simple_planner.cpp.

bool XArmSimplePlanner::exec_plan_cb ( xarm_planner::exec_plan::Request &  req, xarm_planner::exec_plan::Response &  res  )

private

Definition at line 172 of file xarm_simple_planner.cpp.

void XArmSimplePlanner::execute_plan_topic ( const std_msgs::Bool::ConstPtr &  exec )

private

Definition at line 187 of file xarm_simple_planner.cpp.

void XArmSimplePlanner::init ( )

private

Definition at line 69 of file xarm_simple_planner.cpp.

void XArmSimplePlanner::show_trail ( bool  plan_result )

private

Definition at line 106 of file xarm_simple_planner.cpp.

void XArmSimplePlanner::start

(

void

)

Definition at line 95 of file xarm_simple_planner.cpp.

void XArmSimplePlanner::stop

(

void

)

Definition at line 101 of file xarm_simple_planner.cpp.

Member Data Documentation

ros::Publisher XArmSimplePlanner::display_path

private

Definition at line 53 of file xarm_simple_planner.cpp.

ros::ServiceServer XArmSimplePlanner::exec_plan_srv

private

Definition at line 58 of file xarm_simple_planner.cpp.

ros::Subscriber XArmSimplePlanner::exec_plan_sub

private

Definition at line 57 of file xarm_simple_planner.cpp.

moveit::planning_interface::MoveGroupInterface XArmSimplePlanner::group

private

Definition at line 49 of file xarm_simple_planner.cpp.

std::vector<std::string> XArmSimplePlanner::joint_names

private

Definition at line 48 of file xarm_simple_planner.cpp.

moveit::planning_interface::MoveGroupInterface::Plan XArmSimplePlanner::my_xarm_plan

private

Definition at line 50 of file xarm_simple_planner.cpp.

ros::NodeHandle XArmSimplePlanner::node_handle

private

Definition at line 45 of file xarm_simple_planner.cpp.

ros::ServiceServer XArmSimplePlanner::plan_joint_srv

private

Definition at line 55 of file xarm_simple_planner.cpp.

ros::ServiceServer XArmSimplePlanner::plan_pose_srv

private

Definition at line 54 of file xarm_simple_planner.cpp.

std::string XArmSimplePlanner::PLANNING_GROUP

static

Definition at line 42 of file xarm_simple_planner.cpp.

moveit::planning_interface::PlanningSceneInterface XArmSimplePlanner::planning_scene_interface

private

Definition at line 47 of file xarm_simple_planner.cpp.

ros::ServiceServer XArmSimplePlanner::sing_cart_srv

private

Definition at line 56 of file xarm_simple_planner.cpp.

ros::AsyncSpinner XArmSimplePlanner::spinner

private

Definition at line 46 of file xarm_simple_planner.cpp.

moveit_visual_tools::MoveItVisualTools* XArmSimplePlanner::visual_tools

private

Definition at line 51 of file xarm_simple_planner.cpp.

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

• xarm_simple_planner.cpp