This class maintains the representation of the environment as seen by a planning instance. The environment geometry, the robot geometry and state are maintained. More...

#include <planning_scene.h>

Inheritance diagram for planning_scene::PlanningScene:

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Classes
struct	CollisionDetector

Public Member Functions
void	clearDiffs ()
	Clear the diffs accumulated for this planning scene, with respect to the parent. This function is a no-op if there is no parent specified. More...

void	decoupleParent ()
	Make sure that all the data maintained in this scene is local. All unmodified data is copied from the parent and the pointer to the parent is discarded. More...

PlanningScenePtr	diff () const
	Return a new child PlanningScene that uses this one as parent. More...

PlanningScenePtr	diff (const moveit_msgs::PlanningScene &msg) const
	Return a new child PlanningScene that uses this one as parent and has the diffs specified by msg applied. More...

bool	getAttachedCollisionObjectMsg (moveit_msgs::AttachedCollisionObject &attached_collision_obj, const std::string &ns) const
	Construct a message (attached_collision_object) with the attached collision object data from the planning_scene for the requested object. More...

void	getAttachedCollisionObjectMsgs (std::vector< moveit_msgs::AttachedCollisionObject > &attached_collision_objs) const
	Construct a vector of messages (attached_collision_objects) with the attached collision object data for all objects in planning_scene. More...

bool	getCollisionObjectMsg (moveit_msgs::CollisionObject &collision_obj, const std::string &ns) const
	Construct a message (collision_object) with the collision object data from the planning_scene for the requested object. More...

void	getCollisionObjectMsgs (std::vector< moveit_msgs::CollisionObject > &collision_objs) const
	Construct a vector of messages (collision_objects) with the collision object data for all objects in planning_scene. More...

void	getCostSources (const robot_trajectory::RobotTrajectory &trajectory, std::size_t max_costs, std::set< collision_detection::CostSource > &costs, double overlap_fraction=0.9) const
	Get the top max_costs cost sources for a specified trajectory. The resulting costs are stored in costs. More...

void	getCostSources (const robot_trajectory::RobotTrajectory &trajectory, std::size_t max_costs, const std::string &group_name, std::set< collision_detection::CostSource > &costs, double overlap_fraction=0.9) const
	Get the top max_costs cost sources for a specified trajectory, but only for group group_name. The resulting costs are stored in costs. More...

void	getCostSources (const robot_state::RobotState &state, std::size_t max_costs, std::set< collision_detection::CostSource > &costs) const
	Get the top max_costs cost sources for a specified state. The resulting costs are stored in costs. More...

void	getCostSources (const robot_state::RobotState &state, std::size_t max_costs, const std::string &group_name, std::set< collision_detection::CostSource > &costs) const
	Get the top max_costs cost sources for a specified state, but only for group group_name. The resulting costs are stored in costs. More...

const robot_state::RobotState &	getCurrentState () const
	Get the state at which the robot is assumed to be. More...

robot_state::RobotState &	getCurrentStateNonConst ()
	Get the state at which the robot is assumed to be. More...

robot_state::RobotStatePtr	getCurrentStateUpdated (const moveit_msgs::RobotState &update) const
	Get a copy of the current state with components overwritten by the state message update. More...

void	getKnownObjectColors (ObjectColorMap &kc) const

void	getKnownObjectTypes (ObjectTypeMap &kc) const

const MotionFeasibilityFn &	getMotionFeasibilityPredicate () const
	Get the predicate that decides whether motion segments are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation. More...

const std::string &	getName () const
	Get the name of the planning scene. This is empty by default. More...

const std_msgs::ColorRGBA &	getObjectColor (const std::string &id) const

void	getObjectColorMsgs (std::vector< moveit_msgs::ObjectColor > &object_colors) const
	Construct a vector of messages (object_colors) with the colors of the objects from the planning_scene. More...

const object_recognition_msgs::ObjectType &	getObjectType (const std::string &id) const

bool	getOctomapMsg (octomap_msgs::OctomapWithPose &octomap) const
	Construct a message (octomap) with the octomap data from the planning_scene. More...

const PlanningSceneConstPtr &	getParent () const
	Get the parent scene (whith respect to which the diffs are maintained). This may be empty. More...

void	getPlanningSceneDiffMsg (moveit_msgs::PlanningScene &scene) const
	Fill the message scene with the differences between this instance of PlanningScene with respect to the parent. If there is no parent, everything is considered to be a diff and the function behaves like getPlanningSceneMsg() More...

void	getPlanningSceneMsg (moveit_msgs::PlanningScene &scene) const
	Construct a message (scene) with all the necessary data so that the scene can be later reconstructed to be exactly the same using setPlanningSceneMsg() More...

void	getPlanningSceneMsg (moveit_msgs::PlanningScene &scene, const moveit_msgs::PlanningSceneComponents &comp) const
	Construct a message (scene) with the data requested in comp. If all options in comp are filled, this will be a complete planning scene message. More...

const robot_model::RobotModelConstPtr &	getRobotModel () const
	Get the kinematic model for which the planning scene is maintained. More...

const StateFeasibilityFn &	getStateFeasibilityPredicate () const
	Get the predicate that decides whether states are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation. More...

bool	hasObjectColor (const std::string &id) const

bool	hasObjectType (const std::string &id) const

bool	isPathValid (const moveit_msgs::RobotState &start_state, const moveit_msgs::RobotTrajectory &trajectory, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility) More...

bool	isPathValid (const moveit_msgs::RobotState &start_state, const moveit_msgs::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. More...

bool	isPathValid (const moveit_msgs::RobotState &start_state, const moveit_msgs::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const moveit_msgs::Constraints &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. More...

bool	isPathValid (const moveit_msgs::RobotState &start_state, const moveit_msgs::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const std::vector< moveit_msgs::Constraints > &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. More...

bool	isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const std::vector< moveit_msgs::Constraints > &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. More...

bool	isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const moveit_msgs::Constraints &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. More...

bool	isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const moveit_msgs::Constraints &path_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). More...

bool	isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=NULL) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility) More...

bool	isStateConstrained (const moveit_msgs::RobotState &state, const moveit_msgs::Constraints &constr, bool verbose=false) const
	Check if a given state satisfies a set of constraints. More...

bool	isStateConstrained (const robot_state::RobotState &state, const moveit_msgs::Constraints &constr, bool verbose=false) const
	Check if a given state satisfies a set of constraints. More...

bool	isStateConstrained (const moveit_msgs::RobotState &state, const kinematic_constraints::KinematicConstraintSet &constr, bool verbose=false) const
	Check if a given state satisfies a set of constraints. More...

bool	isStateConstrained (const robot_state::RobotState &state, const kinematic_constraints::KinematicConstraintSet &constr, bool verbose=false) const
	Check if a given state satisfies a set of constraints. More...

bool	isStateFeasible (const moveit_msgs::RobotState &state, bool verbose=false) const
	Check if a given state is feasible, in accordance to the feasibility predicate specified by setStateFeasibilityPredicate(). Returns true if no feasibility predicate was specified. More...

bool	isStateFeasible (const robot_state::RobotState &state, bool verbose=false) const
	Check if a given state is feasible, in accordance to the feasibility predicate specified by setStateFeasibilityPredicate(). Returns true if no feasibility predicate was specified. More...

bool	isStateValid (const moveit_msgs::RobotState &state, const std::string &group="", bool verbose=false) const
	Check if a given state is valid. This means checking for collisions and feasibility. More...

bool	isStateValid (const robot_state::RobotState &state, const std::string &group="", bool verbose=false) const
	Check if a given state is valid. This means checking for collisions and feasibility. More...

bool	isStateValid (const moveit_msgs::RobotState &state, const moveit_msgs::Constraints &constr, const std::string &group="", bool verbose=false) const
	Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. More...

bool	isStateValid (const robot_state::RobotState &state, const moveit_msgs::Constraints &constr, const std::string &group="", bool verbose=false) const
	Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. More...

bool	isStateValid (const robot_state::RobotState &state, const kinematic_constraints::KinematicConstraintSet &constr, const std::string &group="", bool verbose=false) const
	Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. More...

void	loadGeometryFromStream (std::istream &in)
	Load the geometry of the planning scene from a stream. More...

void	loadGeometryFromStream (std::istream &in, const Eigen::Affine3d &offset)
	Load the geometry of the planning scene from a stream at a certain location using offset. More...

	PlanningScene (const robot_model::RobotModelConstPtr &robot_model, collision_detection::WorldPtr world=collision_detection::WorldPtr(new collision_detection::World()))
	construct using an existing RobotModel More...

	PlanningScene (const urdf::ModelInterfaceSharedPtr &urdf_model, const srdf::ModelConstSharedPtr &srdf_model, collision_detection::WorldPtr world=collision_detection::WorldPtr(new collision_detection::World()))
	construct using a urdf and srdf. A RobotModel for the PlanningScene will be created using the urdf and srdf. More...

void	printKnownObjects (std::ostream &out) const
	Outputs debug information about the planning scene contents. More...

bool	processAttachedCollisionObjectMsg (const moveit_msgs::AttachedCollisionObject &object)

bool	processCollisionObjectMsg (const moveit_msgs::CollisionObject &object)

void	processOctomapMsg (const octomap_msgs::OctomapWithPose &map)

void	processOctomapMsg (const octomap_msgs::Octomap &map)

void	processOctomapPtr (const std::shared_ptr< const octomap::OcTree > &octree, const Eigen::Affine3d &t)

bool	processPlanningSceneWorldMsg (const moveit_msgs::PlanningSceneWorld &world)

void	pushDiffs (const PlanningScenePtr &scene)
	If there is a parent specified for this scene, then the diffs with respect to that parent are applied to a specified planning scene, whatever that scene may be. If there is no parent specified, this function is a no-op. More...

void	removeAllCollisionObjects ()
	Clear all collision objects in planning scene. More...

void	removeObjectColor (const std::string &id)

void	removeObjectType (const std::string &id)

void	saveGeometryToStream (std::ostream &out) const
	Save the geometry of the planning scene to a stream, as plain text. More...

void	setAttachedBodyUpdateCallback (const robot_state::AttachedBodyCallback &callback)
	Set the callback to be triggered when changes are made to the current scene state. More...

void	setCollisionObjectUpdateCallback (const collision_detection::World::ObserverCallbackFn &callback)
	Set the callback to be triggered when changes are made to the current scene world. More...

void	setCurrentState (const moveit_msgs::RobotState &state)
	Set the current robot state to be state. If not all joint values are specified, the previously maintained joint values are kept. More...

void	setCurrentState (const robot_state::RobotState &state)
	Set the current robot state. More...

void	setMotionFeasibilityPredicate (const MotionFeasibilityFn &fn)
	Specify a predicate that decides whether motion segments are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation. More...

void	setName (const std::string &name)
	Set the name of the planning scene. More...

void	setObjectColor (const std::string &id, const std_msgs::ColorRGBA &color)

void	setObjectType (const std::string &id, const object_recognition_msgs::ObjectType &type)

bool	setPlanningSceneDiffMsg (const moveit_msgs::PlanningScene &scene)
	Apply changes to this planning scene as diffs, even if the message itself is not marked as being a diff (is_diff member). A parent is not required to exist. However, the existing data in the planning instance is not cleared. Data from the message is only appended (and in cases such as e.g., the robot state, is overwritten). More...

bool	setPlanningSceneMsg (const moveit_msgs::PlanningScene &scene)
	Set this instance of a planning scene to be the same as the one serialized in the scene message, even if the message itself is marked as being a diff (is_diff member) More...

void	setStateFeasibilityPredicate (const StateFeasibilityFn &fn)
	Specify a predicate that decides whether states are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation. This is useful for setting up problem specific constraints (e.g., stability) More...

bool	usePlanningSceneMsg (const moveit_msgs::PlanningScene &scene)
	Call setPlanningSceneMsg() or setPlanningSceneDiffMsg() depending on how the is_diff member of the message is set. More...

	~PlanningScene ()

Reasoning about frames
const std::string &	getPlanningFrame () const
	Get the frame in which planning is performed. More...

const robot_state::Transforms &	getTransforms () const
	Get the set of fixed transforms from known frames to the planning frame. More...

const robot_state::Transforms &	getTransforms ()
	Get the set of fixed transforms from known frames to the planning frame. This variant is non-const and also updates the current state. More...

robot_state::Transforms &	getTransformsNonConst ()
	Get the set of fixed transforms from known frames to the planning frame. More...

const Eigen::Affine3d &	getFrameTransform (const std::string &id) const
	Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. More...

const Eigen::Affine3d &	getFrameTransform (const std::string &id)
	Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. Because this function is non-const, the current state transforms are also updated, if needed. More...

const Eigen::Affine3d &	getFrameTransform (robot_state::RobotState &state, const std::string &id) const
	Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. This function also updates the link transforms of state. More...

const Eigen::Affine3d &	getFrameTransform (const robot_state::RobotState &state, const std::string &id) const
	Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. More...

bool	knowsFrameTransform (const std::string &id) const
	Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object. More...

bool	knowsFrameTransform (const robot_state::RobotState &state, const std::string &id) const
	Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object. More...

Reasoning about the geometry of the planning scene
void	addCollisionDetector (const collision_detection::CollisionDetectorAllocatorPtr &allocator)
	Add a new collision detector type. More...

void	setActiveCollisionDetector (const collision_detection::CollisionDetectorAllocatorPtr &allocator, bool exclusive=false)
	Set the type of collision detector to use. Calls addCollisionDetector() to add it if it has not already been added. More...

bool	setActiveCollisionDetector (const std::string &collision_detector_name)
	Set the type of collision detector to use. This type must have already been added with addCollisionDetector(). More...

const std::string &	getActiveCollisionDetectorName () const

void	getCollisionDetectorNames (std::vector< std::string > &names) const
	get the types of collision detector that have already been added. These are the types which can be passed to setActiveCollisionDetector(). More...

const collision_detection::WorldConstPtr &	getWorld () const
	Get the representation of the world. More...

const collision_detection::WorldPtr &	getWorldNonConst ()

const collision_detection::CollisionWorldConstPtr &	getCollisionWorld () const
	Get the active collision detector for the world. More...

const collision_detection::CollisionRobotConstPtr &	getCollisionRobot () const
	Get the active collision detector for the robot. More...

const collision_detection::CollisionRobotConstPtr &	getCollisionRobotUnpadded () const
	Get the active collision detector for the robot. More...

const collision_detection::CollisionWorldConstPtr &	getCollisionWorld (const std::string &collision_detector_name) const
	Get a specific collision detector for the world. If not found return active CollisionWorld. More...

const collision_detection::CollisionRobotConstPtr &	getCollisionRobot (const std::string &collision_detector_name) const
	Get a specific collision detector for the padded robot. If no found return active CollisionRobot. More...

const collision_detection::CollisionRobotConstPtr &	getCollisionRobotUnpadded (const std::string &collision_detector_name) const
	Get a specific collision detector for the unpadded robot. If no found return active unpadded CollisionRobot. More...

const collision_detection::CollisionRobotPtr &	getCollisionRobotNonConst ()
	Get the representation of the collision robot This can be used to set padding and link scale on the active collision_robot. NOTE: After modifying padding and scale on the active robot call propogateRobotPadding() to copy it to all the other collision detectors. More...

void	propogateRobotPadding ()
	Copy scale and padding from active CollisionRobot to other CollisionRobots. This should be called after any changes are made to the scale or padding of the active CollisionRobot. This has no effect on the unpadded CollisionRobots. More...

const collision_detection::AllowedCollisionMatrix &	getAllowedCollisionMatrix () const
	Get the allowed collision matrix. More...

collision_detection::AllowedCollisionMatrix &	getAllowedCollisionMatrixNonConst ()
	Get the allowed collision matrix. More...

Collision checking with respect to this planning scene
bool	isStateColliding (const std::string &group="", bool verbose=false)
	Check if the current state is in collision (with the environment or self collision). If a group name is specified, collision checking is done for that group only. Since the function is non-const, the current state transforms are updated before the collision check. More...

bool	isStateColliding (const std::string &group="", bool verbose=false) const
	Check if the current state is in collision (with the environment or self collision). If a group name is specified, collision checking is done for that group only. It is expected the current state transforms are up to date. More...

bool	isStateColliding (robot_state::RobotState &state, const std::string &group="", bool verbose=false) const
	Check if a given state is in collision (with the environment or self collision) If a group name is specified, collision checking is done for that group only. The link transforms for state are updated before the collision check. More...

bool	isStateColliding (const robot_state::RobotState &state, const std::string &group="", bool verbose=false) const
	Check if a given state is in collision (with the environment or self collision) If a group name is specified, collision checking is done for that group only. It is expected that the link transforms of state are up to date. More...

bool	isStateColliding (const moveit_msgs::RobotState &state, const std::string &group="", bool verbose=false) const
	Check if a given state is in collision (with the environment or self collision) If a group name is specified, collision checking is done for that group only. More...

void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res)
	Check whether the current state is in collision, and if needed, updates the collision transforms of the current state before the computation. More...

void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res) const
	Check whether the current state is in collision. The current state is expected to be updated. More...

void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, robot_state::RobotState &kstate) const
	Check whether a specified state (kstate) is in collision. This variant of the function takes a non-const kstate and calls updateCollisionBodyTransforms() on it. More...

void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate) const
	Check whether a specified state (kstate) is in collision. The collision transforms of kstate are expected to be up to date. More...

void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm). This variant of the function takes a non-const kstate and updates its link transforms if needed. More...

void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm). More...

void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res)
	Check whether the current state is in collision, but use a collision_detection::CollisionRobot instance that has no padding. Since the function is non-const, the current state transforms are also updated if needed. More...

void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res) const
	Check whether the current state is in collision, but use a collision_detection::CollisionRobot instance that has no padding. More...

void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate) const
	Check whether a specified state (kstate) is in collision, but use a collision_detection::CollisionRobot instance that has no padding. More...

void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, robot_state::RobotState &kstate) const
	Check whether a specified state (kstate) is in collision, but use a collision_detection::CollisionRobot instance that has no padding. Update the link transforms of kstate if needed. More...

void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm), but use a collision_detection::CollisionRobot instance that has no padding. This variant of the function takes a non-const kstate and calls updates the link transforms if needed. More...

void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm), but use a collision_detection::CollisionRobot instance that has no padding. More...

void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res)
	Check whether the current state is in self collision. More...

void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res) const
	Check whether the current state is in self collision. More...

void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, robot_state::RobotState &kstate) const
	Check whether a specified state (kstate) is in self collision. More...

void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate) const
	Check whether a specified state (kstate) is in self collision. More...

void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (kstate) is in self collision, with respect to a given allowed collision matrix (acm). The link transforms of kstate are updated if needed. More...

void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (kstate) is in self collision, with respect to a given allowed collision matrix (acm) More...

void	getCollidingLinks (std::vector< std::string > &links)
	Get the names of the links that are involved in collisions for the current state. More...

void	getCollidingLinks (std::vector< std::string > &links) const
	Get the names of the links that are involved in collisions for the current state. More...

void	getCollidingLinks (std::vector< std::string > &links, robot_state::RobotState &kstate) const
	Get the names of the links that are involved in collisions for the state kstate. Update the link transforms for kstate if needed. More...

void	getCollidingLinks (std::vector< std::string > &links, const robot_state::RobotState &kstate) const
	Get the names of the links that are involved in collisions for the state kstate. More...

void	getCollidingLinks (std::vector< std::string > &links, robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	Get the names of the links that are involved in collisions for the state kstate given the allowed collision matrix (acm) More...

void	getCollidingLinks (std::vector< std::string > &links, const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	Get the names of the links that are involved in collisions for the state kstate given the allowed collision matrix (acm) More...

void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts)
	Get the names of the links that are involved in collisions for the current state. Update the link transforms for the current state if needed. More...

void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts) const
	Get the names of the links that are involved in collisions for the current state. More...

void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts, const robot_state::RobotState &kstate) const
	Get the names of the links that are involved in collisions for the state kstate. More...

void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts, robot_state::RobotState &kstate) const
	Get the names of the links that are involved in collisions for the state kstate. Update the link transforms for kstate if needed. More...

void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts, robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	Get the names of the links that are involved in collisions for the state kstate given the allowed collision matrix (acm). Update the link transforms for kstate if needed. More...

void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts, const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	Get the names of the links that are involved in collisions for the state kstate given the allowed collision matrix (acm) More...

Distance computation
double	distanceToCollision (robot_state::RobotState &kstate) const
	The distance between the robot model at state kstate to the nearest collision (ignoring self-collisions) More...

double	distanceToCollision (const robot_state::RobotState &kstate) const
	The distance between the robot model at state kstate to the nearest collision (ignoring self-collisions) More...

double	distanceToCollisionUnpadded (robot_state::RobotState &kstate) const
	The distance between the robot model at state kstate to the nearest collision (ignoring self-collisions), if the robot has no padding. More...

double	distanceToCollisionUnpadded (const robot_state::RobotState &kstate) const
	The distance between the robot model at state kstate to the nearest collision (ignoring self-collisions), if the robot has no padding. More...

double	distanceToCollision (robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	The distance between the robot model at state kstate to the nearest collision, ignoring self-collisions and elements that are allowed to collide. More...

double	distanceToCollision (const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	The distance between the robot model at state kstate to the nearest collision, ignoring self-collisions and elements that are allowed to collide. More...

double	distanceToCollisionUnpadded (robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	The distance between the robot model at state kstate to the nearest collision, ignoring self-collisions and elements that are allowed to collide, if the robot has no padding. More...

double	distanceToCollisionUnpadded (const robot_state::RobotState &kstate, const collision_detection::AllowedCollisionMatrix &acm) const
	The distance between the robot model at state kstate to the nearest collision, ignoring self-collisions and elements that always allowed to collide, if the robot has no padding. More...

Static Public Member Functions
static PlanningScenePtr	clone (const PlanningSceneConstPtr &scene)
	Clone a planning scene. Even if the scene scene depends on a parent, the cloned scene will not. More...

static bool	isEmpty (const moveit_msgs::PlanningScene &msg)
	Check if a message includes any information about a planning scene, or it is just a default, empty message. More...

static bool	isEmpty (const moveit_msgs::PlanningSceneWorld &msg)
	Check if a message includes any information about a planning scene world, or it is just a default, empty message. More...

static bool	isEmpty (const moveit_msgs::RobotState &msg)
	Check if a message includes any information about a robot state, or it is just a default, empty message. More...

Static Public Attributes
static const std::string	DEFAULT_SCENE_NAME = "(noname)"

static const std::string	OCTOMAP_NS = "<octomap>"

Private Types
typedef std::map< std::string, CollisionDetectorPtr >::const_iterator	CollisionDetectorConstIterator

typedef std::map< std::string, CollisionDetectorPtr >::iterator	CollisionDetectorIterator

Private Member Functions
void	allocateCollisionDetectors ()

void	allocateCollisionDetectors (CollisionDetector &detector)

void	initialize ()

	MOVEIT_STRUCT_FORWARD (CollisionDetector)

	PlanningScene (const PlanningSceneConstPtr &parent)

Static Private Member Functions
static robot_model::RobotModelPtr	createRobotModel (const urdf::ModelInterfaceSharedPtr &urdf_model, const srdf::ModelConstSharedPtr &srdf_model)

Private Attributes
collision_detection::AllowedCollisionMatrixPtr	acm_

CollisionDetectorPtr	active_collision_

std::map< std::string, CollisionDetectorPtr >	collision_

robot_state::AttachedBodyCallback	current_state_attached_body_callback_

collision_detection::World::ObserverCallbackFn	current_world_object_update_callback_

collision_detection::World::ObserverHandle	current_world_object_update_observer_handle_

robot_state::TransformsPtr	ftf_

robot_model::RobotModelConstPtr	kmodel_

robot_state::RobotStatePtr	kstate_

MotionFeasibilityFn	motion_feasibility_

std::string	name_

std::unique_ptr< ObjectColorMap >	object_colors_

std::unique_ptr< ObjectTypeMap >	object_types_

PlanningSceneConstPtr	parent_

StateFeasibilityFn	state_feasibility_

collision_detection::WorldPtr	world_

collision_detection::WorldConstPtr	world_const_

collision_detection::WorldDiffPtr	world_diff_

Friends
struct	CollisionDetector

Detailed Description

This class maintains the representation of the environment as seen by a planning instance. The environment geometry, the robot geometry and state are maintained.

Definition at line 87 of file planning_scene.h.

Member Typedef Documentation

typedef std::map<std::string, CollisionDetectorPtr>::const_iterator planning_scene::PlanningScene::CollisionDetectorConstIterator

private

Definition at line 994 of file planning_scene.h.

typedef std::map<std::string, CollisionDetectorPtr>::iterator planning_scene::PlanningScene::CollisionDetectorIterator

private

Definition at line 993 of file planning_scene.h.

Constructor & Destructor Documentation

planning_scene::PlanningScene::PlanningScene	(	const robot_model::RobotModelConstPtr &	robot_model,
		collision_detection::WorldPtr	world = `collision_detection::WorldPtr(new collision_detection::World())`
	)

construct using an existing RobotModel

Definition at line 122 of file planning_scene.cpp.

planning_scene::PlanningScene::PlanningScene	(	const urdf::ModelInterfaceSharedPtr &	urdf_model,
		const srdf::ModelConstSharedPtr &	srdf_model,
		collision_detection::WorldPtr	world = `collision_detection::WorldPtr(new collision_detection::World())`
	)

construct using a urdf and srdf. A RobotModel for the PlanningScene will be created using the urdf and srdf.

Definition at line 128 of file planning_scene.cpp.

planning_scene::PlanningScene::~PlanningScene ( )

Definition at line 145 of file planning_scene.cpp.

planning_scene::PlanningScene::PlanningScene ( const PlanningSceneConstPtr & parent )

private

Definition at line 184 of file planning_scene.cpp.

Member Function Documentation

void planning_scene::PlanningScene::addCollisionDetector ( const collision_detection::CollisionDetectorAllocatorPtr & allocator )

Add a new collision detector type.

A collision detector type is specified with (a shared pointer to) an allocator which is a subclass of CollisionDetectorAllocator. This identifies a combination of CollisionWorld/CollisionRobot which can ve used together.

This does nothing if this type of collision detector has already been added.

A new PlanningScene contains an FCL collision detector. This FCL collision detector will always be available unless it is removed by calling setActiveCollisionDetector() with exclusive=true.

example: to add FCL collision detection (normally not necessary) call planning_scene->addCollisionDetector(collision_detection::CollisionDetectorAllocatorFCL::create());

Definition at line 278 of file planning_scene.cpp.

void planning_scene::PlanningScene::allocateCollisionDetectors ( )

private

void planning_scene::PlanningScene::allocateCollisionDetectors ( CollisionDetector & detector )

private

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)

Check whether the current state is in collision, and if needed, updates the collision transforms of the current state before the computation.

Definition at line 516 of file planning_scene.cpp.

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)		const

inline

Check whether the current state is in collision. The current state is expected to be updated.

Definition at line 389 of file planning_scene.h.

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		robot_state::RobotState &	kstate
	)		const

inline

Check whether a specified state (kstate) is in collision. This variant of the function takes a non-const kstate and calls updateCollisionBodyTransforms() on it.

Definition at line 396 of file planning_scene.h.

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const robot_state::RobotState &	kstate
	)		const

Check whether a specified state (kstate) is in collision. The collision transforms of kstate are expected to be up to date.

Definition at line 525 of file planning_scene.cpp.

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inline

Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm). This variant of the function takes a non-const kstate and updates its link transforms if needed.

Definition at line 411 of file planning_scene.h.

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm).

Definition at line 548 of file planning_scene.cpp.

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)

Check whether the current state is in collision, but use a collision_detection::CollisionRobot instance that has no padding. Since the function is non-const, the current state transforms are also updated if needed.

Definition at line 560 of file planning_scene.cpp.

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)		const

inline

Check whether the current state is in collision, but use a collision_detection::CollisionRobot instance that has no padding.

Definition at line 432 of file planning_scene.h.

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const robot_state::RobotState &	kstate
	)		const

inline

Check whether a specified state (kstate) is in collision, but use a collision_detection::CollisionRobot instance that has no padding.

Definition at line 440 of file planning_scene.h.

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		robot_state::RobotState &	kstate
	)		const

inline

Check whether a specified state (kstate) is in collision, but use a collision_detection::CollisionRobot instance that has no padding. Update the link transforms of kstate if needed.

Definition at line 449 of file planning_scene.h.

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inline

Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm), but use a collision_detection::CollisionRobot instance that has no padding. This variant of the function takes a non-const kstate and calls updates the link transforms if needed.

Definition at line 459 of file planning_scene.h.

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Check whether a specified state (kstate) is in collision, with respect to a given allowed collision matrix (acm), but use a collision_detection::CollisionRobot instance that has no padding.

Definition at line 569 of file planning_scene.cpp.

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)

Check whether the current state is in self collision.

Definition at line 539 of file planning_scene.cpp.

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)		const

inline

Check whether the current state is in self collision.

Definition at line 477 of file planning_scene.h.

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		robot_state::RobotState &	kstate
	)		const

inline

Check whether a specified state (kstate) is in self collision.

Definition at line 484 of file planning_scene.h.

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const robot_state::RobotState &	kstate
	)		const

inline

Check whether a specified state (kstate) is in self collision.

Definition at line 492 of file planning_scene.h.

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inline

Check whether a specified state (kstate) is in self collision, with respect to a given allowed collision matrix (acm). The link transforms of kstate are updated if needed.

Definition at line 501 of file planning_scene.h.

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inline

Check whether a specified state (kstate) is in self collision, with respect to a given allowed collision matrix (acm)

Definition at line 510 of file planning_scene.h.

void planning_scene::PlanningScene::clearDiffs ( )

Clear the diffs accumulated for this planning scene, with respect to the parent. This function is a no-op if there is no parent specified.

Definition at line 413 of file planning_scene.cpp.

PlanningScenePtr planning_scene::PlanningScene::clone ( const PlanningSceneConstPtr & scene )

static

Clone a planning scene. Even if the scene scene depends on a parent, the cloned scene will not.

Definition at line 224 of file planning_scene.cpp.

robot_model::RobotModelPtr planning_scene::PlanningScene::createRobotModel	(	const urdf::ModelInterfaceSharedPtr &	urdf_model,
		const srdf::ModelConstSharedPtr &	srdf_model
	)

staticprivate

Definition at line 174 of file planning_scene.cpp.

void planning_scene::PlanningScene::decoupleParent ( )

Make sure that all the data maintained in this scene is local. All unmodified data is copied from the parent and the pointer to the parent is discarded.

Definition at line 1129 of file planning_scene.cpp.

PlanningScenePtr planning_scene::PlanningScene::diff ( ) const

Return a new child PlanningScene that uses this one as parent.

The child scene has its own copy of the world. It maintains a list (in world_diff_) of changes made to the child world.

The kmodel_, kstate_, ftf_, and acm_ are not copied. They are shared with the parent. So if changes to these are made in the parent they will be visible in the child. But if any of these is modified (i.e. if the get*NonConst functions are called) in the child then a copy is made and subsequent changes to the corresponding member of the parent will no longer be visible in the child.

Definition at line 232 of file planning_scene.cpp.

PlanningScenePtr planning_scene::PlanningScene::diff ( const moveit_msgs::PlanningScene & msg ) const

Return a new child PlanningScene that uses this one as parent and has the diffs specified by msg applied.

Definition at line 237 of file planning_scene.cpp.

double planning_scene::PlanningScene::distanceToCollision ( robot_state::RobotState & kstate ) const

inline

The distance between the robot model at state kstate to the nearest collision (ignoring self-collisions)

Definition at line 605 of file planning_scene.h.

double planning_scene::PlanningScene::distanceToCollision ( const robot_state::RobotState & kstate ) const

inline

The distance between the robot model at state kstate to the nearest collision (ignoring self-collisions)

Definition at line 613 of file planning_scene.h.

double planning_scene::PlanningScene::distanceToCollision	(	robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inline

The distance between the robot model at state kstate to the nearest collision, ignoring self-collisions and elements that are allowed to collide.

Definition at line 635 of file planning_scene.h.

double planning_scene::PlanningScene::distanceToCollision	(	const robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inline

The distance between the robot model at state kstate to the nearest collision, ignoring self-collisions and elements that are allowed to collide.

Definition at line 644 of file planning_scene.h.

double planning_scene::PlanningScene::distanceToCollisionUnpadded ( robot_state::RobotState & kstate ) const

inline

The distance between the robot model at state kstate to the nearest collision (ignoring self-collisions), if the robot has no padding.

Definition at line 620 of file planning_scene.h.

double planning_scene::PlanningScene::distanceToCollisionUnpadded ( const robot_state::RobotState & kstate ) const

inline

The distance between the robot model at state kstate to the nearest collision (ignoring self-collisions), if the robot has no padding.

Definition at line 628 of file planning_scene.h.

double planning_scene::PlanningScene::distanceToCollisionUnpadded	(	robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inline

The distance between the robot model at state kstate to the nearest collision, ignoring self-collisions and elements that are allowed to collide, if the robot has no padding.

Definition at line 652 of file planning_scene.h.

double planning_scene::PlanningScene::distanceToCollisionUnpadded	(	const robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inline

The distance between the robot model at state kstate to the nearest collision, ignoring self-collisions and elements that always allowed to collide, if the robot has no padding.

Definition at line 661 of file planning_scene.h.

const std::string& planning_scene::PlanningScene::getActiveCollisionDetectorName ( ) const

inline

Definition at line 269 of file planning_scene.h.

const collision_detection::AllowedCollisionMatrix& planning_scene::PlanningScene::getAllowedCollisionMatrix ( ) const

inline

Get the allowed collision matrix.

Definition at line 336 of file planning_scene.h.

collision_detection::AllowedCollisionMatrix & planning_scene::PlanningScene::getAllowedCollisionMatrixNonConst ( )

Get the allowed collision matrix.

Definition at line 675 of file planning_scene.cpp.

bool planning_scene::PlanningScene::getAttachedCollisionObjectMsg	(	moveit_msgs::AttachedCollisionObject &	attached_collision_obj,
		const std::string &	ns
	)		const

Construct a message (attached_collision_object) with the attached collision object data from the planning_scene for the requested object.

Definition at line 855 of file planning_scene.cpp.

void planning_scene::PlanningScene::getAttachedCollisionObjectMsgs ( std::vector< moveit_msgs::AttachedCollisionObject > & attached_collision_objs ) const

Construct a vector of messages (attached_collision_objects) with the attached collision object data for all objects in planning_scene.

Definition at line 871 of file planning_scene.cpp.

void planning_scene::PlanningScene::getCollidingLinks ( std::vector< std::string > & links )

Get the names of the links that are involved in collisions for the current state.

Definition at line 605 of file planning_scene.cpp.

void planning_scene::PlanningScene::getCollidingLinks ( std::vector< std::string > & links ) const

inline

Get the names of the links that are involved in collisions for the current state.

Definition at line 522 of file planning_scene.h.

void planning_scene::PlanningScene::getCollidingLinks	(	std::vector< std::string > &	links,
		robot_state::RobotState &	kstate
	)		const

inline

Get the names of the links that are involved in collisions for the state kstate. Update the link transforms for kstate if needed.

Definition at line 529 of file planning_scene.h.

void planning_scene::PlanningScene::getCollidingLinks	(	std::vector< std::string > &	links,
		const robot_state::RobotState &	kstate
	)		const

inline

Get the names of the links that are involved in collisions for the state kstate.

Definition at line 536 of file planning_scene.h.

void planning_scene::PlanningScene::getCollidingLinks	(	std::vector< std::string > &	links,
		robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inline

Get the names of the links that are involved in collisions for the state kstate given the allowed collision matrix (acm)

Definition at line 543 of file planning_scene.h.

void planning_scene::PlanningScene::getCollidingLinks	(	std::vector< std::string > &	links,
		const robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Get the names of the links that are involved in collisions for the state kstate given the allowed collision matrix (acm)

Definition at line 613 of file planning_scene.cpp.

void planning_scene::PlanningScene::getCollidingPairs ( collision_detection::CollisionResult::ContactMap & contacts )

Get the names of the links that are involved in collisions for the current state. Update the link transforms for the current state if needed.

Definition at line 584 of file planning_scene.cpp.

void planning_scene::PlanningScene::getCollidingPairs ( collision_detection::CollisionResult::ContactMap & contacts ) const

inline

Get the names of the links that are involved in collisions for the current state.

Definition at line 560 of file planning_scene.h.

void planning_scene::PlanningScene::getCollidingPairs	(	collision_detection::CollisionResult::ContactMap &	contacts,
		const robot_state::RobotState &	kstate
	)		const

inline

Get the names of the links that are involved in collisions for the state kstate.

Definition at line 566 of file planning_scene.h.

void planning_scene::PlanningScene::getCollidingPairs	(	collision_detection::CollisionResult::ContactMap &	contacts,
		robot_state::RobotState &	kstate
	)		const

inline

Get the names of the links that are involved in collisions for the state kstate. Update the link transforms for kstate if needed.

Definition at line 574 of file planning_scene.h.

void planning_scene::PlanningScene::getCollidingPairs	(	collision_detection::CollisionResult::ContactMap &	contacts,
		robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inline

Get the names of the links that are involved in collisions for the state kstate given the allowed collision matrix (acm). Update the link transforms for kstate if needed.

Definition at line 583 of file planning_scene.h.

void planning_scene::PlanningScene::getCollidingPairs	(	collision_detection::CollisionResult::ContactMap &	contacts,
		const robot_state::RobotState &	kstate,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Get the names of the links that are involved in collisions for the state kstate given the allowed collision matrix (acm)

Definition at line 592 of file planning_scene.cpp.

void planning_scene::PlanningScene::getCollisionDetectorNames ( std::vector< std::string > & names ) const

get the types of collision detector that have already been added. These are the types which can be passed to setActiveCollisionDetector().

Definition at line 360 of file planning_scene.cpp.

bool planning_scene::PlanningScene::getCollisionObjectMsg	(	moveit_msgs::CollisionObject &	collision_obj,
		const std::string &	ns
	)		const

Construct a message (collision_object) with the collision object data from the planning_scene for the requested object.

Definition at line 813 of file planning_scene.cpp.

void planning_scene::PlanningScene::getCollisionObjectMsgs ( std::vector< moveit_msgs::CollisionObject > & collision_objs ) const

Construct a vector of messages (collision_objects) with the collision object data for all objects in planning_scene.

Definition at line 843 of file planning_scene.cpp.

const collision_detection::CollisionRobotConstPtr& planning_scene::PlanningScene::getCollisionRobot ( ) const

inline

Get the active collision detector for the robot.

Definition at line 300 of file planning_scene.h.

const collision_detection::CollisionRobotConstPtr & planning_scene::PlanningScene::getCollisionRobot ( const std::string & collision_detector_name ) const

Get a specific collision detector for the padded robot. If no found return active CollisionRobot.

Definition at line 384 of file planning_scene.cpp.

const collision_detection::CollisionRobotPtr & planning_scene::PlanningScene::getCollisionRobotNonConst ( )

Get the representation of the collision robot This can be used to set padding and link scale on the active collision_robot. NOTE: After modifying padding and scale on the active robot call propogateRobotPadding() to copy it to all the other collision detectors.

Definition at line 630 of file planning_scene.cpp.

const collision_detection::CollisionRobotConstPtr& planning_scene::PlanningScene::getCollisionRobotUnpadded ( ) const

inline

Get the active collision detector for the robot.

Definition at line 306 of file planning_scene.h.

const collision_detection::CollisionRobotConstPtr & planning_scene::PlanningScene::getCollisionRobotUnpadded ( const std::string & collision_detector_name ) const

Get a specific collision detector for the unpadded robot. If no found return active unpadded CollisionRobot.

Definition at line 399 of file planning_scene.cpp.

const collision_detection::CollisionWorldConstPtr& planning_scene::PlanningScene::getCollisionWorld ( ) const

inline

Get the active collision detector for the world.

Definition at line 293 of file planning_scene.h.

const collision_detection::CollisionWorldConstPtr & planning_scene::PlanningScene::getCollisionWorld ( const std::string & collision_detector_name ) const

Get a specific collision detector for the world. If not found return active CollisionWorld.

Definition at line 369 of file planning_scene.cpp.

void planning_scene::PlanningScene::getCostSources	(	const robot_trajectory::RobotTrajectory &	trajectory,
		std::size_t	max_costs,
		std::set< collision_detection::CostSource > &	costs,
		double	overlap_fraction = `0.9`
	)		const

Get the top max_costs cost sources for a specified trajectory. The resulting costs are stored in costs.

Definition at line 2198 of file planning_scene.cpp.

void planning_scene::PlanningScene::getCostSources	(	const robot_trajectory::RobotTrajectory &	trajectory,
		std::size_t	max_costs,
		const std::string &	group_name,
		std::set< collision_detection::CostSource > &	costs,
		double	overlap_fraction = `0.9`
	)		const

Get the top max_costs cost sources for a specified trajectory, but only for group group_name. The resulting costs are stored in costs.

Definition at line 2204 of file planning_scene.cpp.

void planning_scene::PlanningScene::getCostSources	(	const robot_state::RobotState &	state,
		std::size_t	max_costs,
		std::set< collision_detection::CostSource > &	costs
	)		const

Get the top max_costs cost sources for a specified state. The resulting costs are stored in costs.

Definition at line 2238 of file planning_scene.cpp.

void planning_scene::PlanningScene::getCostSources	(	const robot_state::RobotState &	state,
		std::size_t	max_costs,
		const std::string &	group_name,
		std::set< collision_detection::CostSource > &	costs
	)		const

Get the top max_costs cost sources for a specified state, but only for group group_name. The resulting costs are stored in costs.

Definition at line 2244 of file planning_scene.cpp.

const robot_state::RobotState& planning_scene::PlanningScene::getCurrentState ( ) const

inline

Get the state at which the robot is assumed to be.

Definition at line 148 of file planning_scene.h.

robot_state::RobotState & planning_scene::PlanningScene::getCurrentStateNonConst ( )

Get the state at which the robot is assumed to be.

Definition at line 641 of file planning_scene.cpp.

robot_state::RobotStatePtr planning_scene::PlanningScene::getCurrentStateUpdated ( const moveit_msgs::RobotState & update ) const

Get a copy of the current state with components overwritten by the state message update.

Definition at line 652 of file planning_scene.cpp.

const Eigen::Affine3d & planning_scene::PlanningScene::getFrameTransform ( const std::string & id ) const

Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not.

Definition at line 1803 of file planning_scene.cpp.

const Eigen::Affine3d & planning_scene::PlanningScene::getFrameTransform ( const std::string & id )

Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. Because this function is non-const, the current state transforms are also updated, if needed.

Definition at line 1808 of file planning_scene.cpp.

const Eigen::Affine3d& planning_scene::PlanningScene::getFrameTransform	(	robot_state::RobotState &	state,
		const std::string &	id
	)		const

inline

Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. This function also updates the link transforms of state.

Definition at line 203 of file planning_scene.h.

const Eigen::Affine3d & planning_scene::PlanningScene::getFrameTransform	(	const robot_state::RobotState &	state,
		const std::string &	id
	)		const

Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not.

Definition at line 1816 of file planning_scene.cpp.

void planning_scene::PlanningScene::getKnownObjectColors ( ObjectColorMap & kc ) const

Definition at line 1929 of file planning_scene.cpp.

void planning_scene::PlanningScene::getKnownObjectTypes ( ObjectTypeMap & kc ) const

Definition at line 1895 of file planning_scene.cpp.

const MotionFeasibilityFn& planning_scene::PlanningScene::getMotionFeasibilityPredicate ( ) const

inline

Get the predicate that decides whether motion segments are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation.

Definition at line 811 of file planning_scene.h.

const std::string& planning_scene::PlanningScene::getName ( ) const

inline

Get the name of the planning scene. This is empty by default.

Definition at line 105 of file planning_scene.h.

const std_msgs::ColorRGBA & planning_scene::PlanningScene::getObjectColor ( const std::string & id ) const

Definition at line 1915 of file planning_scene.cpp.

void planning_scene::PlanningScene::getObjectColorMsgs ( std::vector< moveit_msgs::ObjectColor > & object_colors ) const

Construct a vector of messages (object_colors) with the colors of the objects from the planning_scene.

Definition at line 901 of file planning_scene.cpp.

const object_recognition_msgs::ObjectType & planning_scene::PlanningScene::getObjectType ( const std::string & id ) const

Definition at line 1868 of file planning_scene.cpp.

bool planning_scene::PlanningScene::getOctomapMsg ( octomap_msgs::OctomapWithPose & octomap ) const

Construct a message (octomap) with the octomap data from the planning_scene.

Definition at line 879 of file planning_scene.cpp.

const PlanningSceneConstPtr& planning_scene::PlanningScene::getParent ( ) const

inline

Get the parent scene (whith respect to which the diffs are maintained). This may be empty.

Definition at line 135 of file planning_scene.h.

const std::string& planning_scene::PlanningScene::getPlanningFrame ( ) const

inline

Get the frame in which planning is performed.

Definition at line 165 of file planning_scene.h.

void planning_scene::PlanningScene::getPlanningSceneDiffMsg ( moveit_msgs::PlanningScene & scene ) const

Fill the message scene with the differences between this instance of PlanningScene with respect to the parent. If there is no parent, everything is considered to be a diff and the function behaves like getPlanningSceneMsg()

Definition at line 699 of file planning_scene.cpp.

void planning_scene::PlanningScene::getPlanningSceneMsg ( moveit_msgs::PlanningScene & scene ) const

Construct a message (scene) with all the necessary data so that the scene can be later reconstructed to be exactly the same using setPlanningSceneMsg()

Definition at line 916 of file planning_scene.cpp.

void planning_scene::PlanningScene::getPlanningSceneMsg	(	moveit_msgs::PlanningScene &	scene,
		const moveit_msgs::PlanningSceneComponents &	comp
	)		const

Construct a message (scene) with the data requested in comp. If all options in comp are filled, this will be a complete planning scene message.

Definition at line 937 of file planning_scene.cpp.

const robot_model::RobotModelConstPtr& planning_scene::PlanningScene::getRobotModel ( ) const

inline

Get the kinematic model for which the planning scene is maintained.

Definition at line 141 of file planning_scene.h.

const StateFeasibilityFn& planning_scene::PlanningScene::getStateFeasibilityPredicate ( ) const

inline

Get the predicate that decides whether states are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation.

Definition at line 797 of file planning_scene.h.

const robot_state::Transforms& planning_scene::PlanningScene::getTransforms ( ) const

inline

Get the set of fixed transforms from known frames to the planning frame.

Definition at line 172 of file planning_scene.h.

const robot_state::Transforms & planning_scene::PlanningScene::getTransforms ( )

Get the set of fixed transforms from known frames to the planning frame. This variant is non-const and also updates the current state.

Definition at line 682 of file planning_scene.cpp.

robot_state::Transforms & planning_scene::PlanningScene::getTransformsNonConst ( )

Get the set of fixed transforms from known frames to the planning frame.

Definition at line 688 of file planning_scene.cpp.

const collision_detection::WorldConstPtr& planning_scene::PlanningScene::getWorld ( ) const

inline

Get the representation of the world.

Definition at line 279 of file planning_scene.h.

const collision_detection::WorldPtr& planning_scene::PlanningScene::getWorldNonConst ( )

inline

Definition at line 286 of file planning_scene.h.

bool planning_scene::PlanningScene::hasObjectColor ( const std::string & id ) const

Definition at line 1905 of file planning_scene.cpp.

bool planning_scene::PlanningScene::hasObjectType ( const std::string & id ) const

Definition at line 1858 of file planning_scene.cpp.

void planning_scene::PlanningScene::initialize ( )

private

Definition at line 151 of file planning_scene.cpp.

bool planning_scene::PlanningScene::isEmpty ( const moveit_msgs::PlanningScene & msg )

static

Check if a message includes any information about a planning scene, or it is just a default, empty message.

Definition at line 99 of file planning_scene.cpp.

bool planning_scene::PlanningScene::isEmpty ( const moveit_msgs::PlanningSceneWorld & msg )

static

Check if a message includes any information about a planning scene world, or it is just a default, empty message.

Definition at line 117 of file planning_scene.cpp.

bool planning_scene::PlanningScene::isEmpty ( const moveit_msgs::RobotState & msg )

static

Check if a message includes any information about a robot state, or it is just a default, empty message.

Definition at line 105 of file planning_scene.cpp.

bool planning_scene::PlanningScene::isPathValid	(	const moveit_msgs::RobotState &	start_state,
		const moveit_msgs::RobotTrajectory &	trajectory,
		const std::string &	group = `""`,
		bool	verbose = `false`,
		std::vector< std::size_t > *	invalid_index = `NULL`
	)		const

Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility)

Definition at line 2075 of file planning_scene.cpp.

bool planning_scene::PlanningScene::isPathValid	(	const moveit_msgs::RobotState &	start_state,
		const moveit_msgs::RobotTrajectory &	trajectory,
		const moveit_msgs::Constraints &	path_constraints,
		const std::string &	group = `""`,
		bool	verbose = `false`,
		std::vector< std::size_t > *	invalid_index = `NULL`
	)		const