#include <plan_execution.h>

Classes
class	DynamicReconfigureImpl

struct	Options

Public Member Functions
moveit_msgs::MoveItErrorCodes	executeAndMonitor (ExecutableMotionPlan &plan)
	Execute and monitor a previously created plan. More...

std::string	getErrorCodeString (const moveit_msgs::MoveItErrorCodes &error_code)

unsigned int	getMaxReplanAttempts () const

const planning_scene_monitor::PlanningSceneMonitorPtr &	getPlanningSceneMonitor () const

const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	getTrajectoryExecutionManager () const

double	getTrajectoryStateRecordingFrequency () const

void	planAndExecute (ExecutableMotionPlan &plan, const Options &opt)

void	planAndExecute (ExecutableMotionPlan &plan, const moveit_msgs::PlanningScene &scene_diff, const Options &opt)

	PlanExecution (const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor, const trajectory_execution_manager::TrajectoryExecutionManagerPtr &trajectory_execution)

void	setMaxReplanAttempts (unsigned int attempts)

void	setTrajectoryStateRecordingFrequency (double freq)

void	stop ()

	~PlanExecution ()

Private Member Functions
void	doneWithTrajectoryExecution (const moveit_controller_manager::ExecutionStatus &status)

bool	isRemainingPathValid (const ExecutableMotionPlan &plan)

bool	isRemainingPathValid (const ExecutableMotionPlan &plan, const std::pair< int, int > &path_segment)

void	planAndExecuteHelper (ExecutableMotionPlan &plan, const Options &opt)

void	planningSceneUpdatedCallback (const planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)

void	successfulTrajectorySegmentExecution (const ExecutableMotionPlan *plan, std::size_t index)

Private Attributes
unsigned int	default_max_replan_attempts_

bool	execution_complete_

bool	new_scene_update_

ros::NodeHandle	node_handle_

bool	path_became_invalid_

planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_

bool	preempt_requested_

DynamicReconfigureImpl *	reconfigure_impl_

trajectory_execution_manager::TrajectoryExecutionManagerPtr	trajectory_execution_manager_

planning_scene_monitor::TrajectoryMonitorPtr	trajectory_monitor_

Detailed Description

Definition at line 53 of file plan_execution.h.

Constructor & Destructor Documentation

plan_execution::PlanExecution::PlanExecution	(	const planning_scene_monitor::PlanningSceneMonitorPtr &	planning_scene_monitor,
		const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	trajectory_execution
	)

Definition at line 72 of file plan_execution.cpp.

plan_execution::PlanExecution::~PlanExecution ( )

Definition at line 95 of file plan_execution.cpp.

Member Function Documentation

void plan_execution::PlanExecution::doneWithTrajectoryExecution ( const moveit_controller_manager::ExecutionStatus & status )

private

Definition at line 478 of file plan_execution.cpp.

moveit_msgs::MoveItErrorCodes plan_execution::PlanExecution::executeAndMonitor ( ExecutableMotionPlan & plan )

Execute and monitor a previously created plan.

In case there is no planning_scene or planning_scene_monitor set in the plan they will be set at the start of the method. They are then used to monitor the execution.

Definition at line 317 of file plan_execution.cpp.

std::string plan_execution::PlanExecution::getErrorCodeString ( const moveit_msgs::MoveItErrorCodes & error_code )

Definition at line 105 of file plan_execution.cpp.

unsigned int plan_execution::PlanExecution::getMaxReplanAttempts ( ) const

inline

Definition at line 125 of file plan_execution.h.

const planning_scene_monitor::PlanningSceneMonitorPtr& plan_execution::PlanExecution::getPlanningSceneMonitor ( ) const

inline

Definition at line 96 of file plan_execution.h.

const trajectory_execution_manager::TrajectoryExecutionManagerPtr& plan_execution::PlanExecution::getTrajectoryExecutionManager ( ) const

inline

Definition at line 101 of file plan_execution.h.

double plan_execution::PlanExecution::getTrajectoryStateRecordingFrequency ( ) const

inline

Definition at line 106 of file plan_execution.h.

bool plan_execution::PlanExecution::isRemainingPathValid ( const ExecutableMotionPlan & plan )

private

Definition at line 264 of file plan_execution.cpp.

bool plan_execution::PlanExecution::isRemainingPathValid	(	const ExecutableMotionPlan &	plan,
		const std::pair< int, int > &	path_segment
	)

private

Definition at line 271 of file plan_execution.cpp.

void plan_execution::PlanExecution::planAndExecute	(	ExecutableMotionPlan &	plan,
		const Options &	opt
	)

Definition at line 134 of file plan_execution.cpp.

void plan_execution::PlanExecution::planAndExecute	(	ExecutableMotionPlan &	plan,
		const moveit_msgs::PlanningScene &	scene_diff,
		const Options &	opt
	)

Definition at line 141 of file plan_execution.cpp.

void plan_execution::PlanExecution::planAndExecuteHelper	(	ExecutableMotionPlan &	plan,
		const Options &	opt
	)

private

Definition at line 160 of file plan_execution.cpp.

void plan_execution::PlanExecution::planningSceneUpdatedCallback ( const planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type )

private

Definition at line 470 of file plan_execution.cpp.

void plan_execution::PlanExecution::setMaxReplanAttempts ( unsigned int attempts )

inline

Definition at line 120 of file plan_execution.h.

void plan_execution::PlanExecution::setTrajectoryStateRecordingFrequency ( double freq )

inline

Definition at line 114 of file plan_execution.h.

void plan_execution::PlanExecution::stop ( void )

Definition at line 100 of file plan_execution.cpp.

void plan_execution::PlanExecution::successfulTrajectorySegmentExecution	(	const ExecutableMotionPlan *	plan,
		std::size_t	index
	)

private

Definition at line 484 of file plan_execution.cpp.

Member Data Documentation

unsigned int plan_execution::PlanExecution::default_max_replan_attempts_

private

Definition at line 157 of file plan_execution.h.

bool plan_execution::PlanExecution::execution_complete_

private

Definition at line 162 of file plan_execution.h.

bool plan_execution::PlanExecution::new_scene_update_

private

Definition at line 160 of file plan_execution.h.

ros::NodeHandle plan_execution::PlanExecution::node_handle_

private

Definition at line 152 of file plan_execution.h.

bool plan_execution::PlanExecution::path_became_invalid_

private

Definition at line 163 of file plan_execution.h.

planning_scene_monitor::PlanningSceneMonitorPtr plan_execution::PlanExecution::planning_scene_monitor_

private

Definition at line 153 of file plan_execution.h.

bool plan_execution::PlanExecution::preempt_requested_

private

Definition at line 159 of file plan_execution.h.

DynamicReconfigureImpl* plan_execution::PlanExecution::reconfigure_impl_

private

Definition at line 165 of file plan_execution.h.

trajectory_execution_manager::TrajectoryExecutionManagerPtr plan_execution::PlanExecution::trajectory_execution_manager_

private

Definition at line 154 of file plan_execution.h.

planning_scene_monitor::TrajectoryMonitorPtr plan_execution::PlanExecution::trajectory_monitor_

private

Definition at line 155 of file plan_execution.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation