#include <move_group_capability.h>

Inheritance diagram for move_group::MoveGroupCapability:

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Public Member Functions
const std::string &	getName () const

virtual void	initialize ()=0

	MoveGroupCapability (const std::string &capability_name)

void	setContext (const MoveGroupContextPtr &context)

virtual	~MoveGroupCapability ()

Protected Member Functions
planning_interface::MotionPlanRequest	clearRequestStartState (const planning_interface::MotionPlanRequest &request) const

moveit_msgs::PlanningScene	clearSceneRobotState (const moveit_msgs::PlanningScene &scene) const

void	convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, std::vector< moveit_msgs::RobotTrajectory > &trajectory_msg) const

void	convertToMsg (const robot_trajectory::RobotTrajectoryPtr &trajectory, moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const

void	convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const

std::string	getActionResultString (const moveit_msgs::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only)

bool	performTransform (geometry_msgs::PoseStamped &pose_msg, const std::string &target_frame) const

std::string	stateToStr (MoveGroupState state) const

Protected Attributes
std::string	capability_name_

MoveGroupContextPtr	context_

ros::NodeHandle	node_handle_

ros::NodeHandle	root_node_handle_

Detailed Description

Definition at line 58 of file move_group_capability.h.

Constructor & Destructor Documentation

move_group::MoveGroupCapability::MoveGroupCapability ( const std::string & capability_name )

inline

Definition at line 61 of file move_group_capability.h.

virtual move_group::MoveGroupCapability::~MoveGroupCapability ( )

inlinevirtual

Definition at line 65 of file move_group_capability.h.

Member Function Documentation

planning_interface::MotionPlanRequest move_group::MoveGroupCapability::clearRequestStartState ( const planning_interface::MotionPlanRequest & request ) const

protected

Definition at line 90 of file move_group_capability.cpp.

moveit_msgs::PlanningScene move_group::MoveGroupCapability::clearSceneRobotState ( const moveit_msgs::PlanningScene & scene ) const

protected

Definition at line 101 of file move_group_capability.cpp.

void move_group::MoveGroupCapability::convertToMsg	(	const std::vector< plan_execution::ExecutableTrajectory > &	trajectory,
		moveit_msgs::RobotState &	first_state_msg,
		std::vector< moveit_msgs::RobotTrajectory > &	trajectory_msg
	)		const

protected

Definition at line 45 of file move_group_capability.cpp.

void move_group::MoveGroupCapability::convertToMsg	(	const robot_trajectory::RobotTrajectoryPtr &	trajectory,
		moveit_msgs::RobotState &	first_state_msg,
		moveit_msgs::RobotTrajectory &	trajectory_msg
	)		const

protected

Definition at line 68 of file move_group_capability.cpp.

void move_group::MoveGroupCapability::convertToMsg	(	const std::vector< plan_execution::ExecutableTrajectory > &	trajectory,
		moveit_msgs::RobotState &	first_state_msg,
		moveit_msgs::RobotTrajectory &	trajectory_msg
	)		const

protected

Definition at line 79 of file move_group_capability.cpp.

std::string move_group::MoveGroupCapability::getActionResultString	(	const moveit_msgs::MoveItErrorCodes &	error_code,
		bool	planned_trajectory_empty,
		bool	plan_only
	)

protected

Definition at line 111 of file move_group_capability.cpp.

const std::string& move_group::MoveGroupCapability::getName ( ) const

inline

Definition at line 73 of file move_group_capability.h.

virtual void move_group::MoveGroupCapability::initialize ( )

pure virtual

Implemented in move_group::MoveGroupExecuteTrajectoryAction, move_group::ApplyPlanningSceneService, move_group::MoveGroupMoveAction, move_group::MoveGroupQueryPlannersService, move_group::MoveGroupExecuteService, move_group::MoveGroupKinematicsService, move_group::MoveGroupCartesianPathService, move_group::ClearOctomapService, move_group::MoveGroupGetPlanningSceneService, move_group::MoveGroupPlanService, and move_group::MoveGroupStateValidationService.

bool move_group::MoveGroupCapability::performTransform	(	geometry_msgs::PoseStamped &	pose_msg,
		const std::string &	target_frame
	)		const

protected

Definition at line 172 of file move_group_capability.cpp.

void move_group::MoveGroupCapability::setContext ( const MoveGroupContextPtr & context )

Definition at line 40 of file move_group_capability.cpp.

std::string move_group::MoveGroupCapability::stateToStr ( MoveGroupState state ) const

protected

Definition at line 155 of file move_group_capability.cpp.

Member Data Documentation

std::string move_group::MoveGroupCapability::capability_name_

protected

Definition at line 98 of file move_group_capability.h.

MoveGroupContextPtr move_group::MoveGroupCapability::context_

protected

Definition at line 99 of file move_group_capability.h.

ros::NodeHandle move_group::MoveGroupCapability::node_handle_

protected

Definition at line 97 of file move_group_capability.h.

ros::NodeHandle move_group::MoveGroupCapability::root_node_handle_

protected

Definition at line 96 of file move_group_capability.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation