Simple interface to MoveIt! components. More...
Classes | |
class | MoveGroupInterface |
Client class to conveniently use the ROS interfaces provided by the move_group node. More... | |
class | MoveItCpp |
class | MoveItCppTest |
class | MoveItErrorCode |
class | PlanningComponent |
class | PlanningSceneInterface |
Functions | |
robot_model::RobotModelConstPtr | getSharedRobotModel (const std::string &robot_description) |
planning_scene_monitor::CurrentStateMonitorPtr | getSharedStateMonitor (const robot_model::RobotModelConstPtr &robot_model, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer) |
getSharedStateMonitor is a simpler version of getSharedStateMonitor(const robot_model::RobotModelConstPtr &robot_model, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, ros::NodeHandle nh = ros::NodeHandle() ). It calls this function using the default constructed ros::NodeHandle More... | |
planning_scene_monitor::CurrentStateMonitorPtr | getSharedStateMonitor (const robot_model::RobotModelConstPtr &robot_model, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer, const ros::NodeHandle &nh) |
getSharedStateMonitor More... | |
std::shared_ptr< tf2_ros::Buffer > | getSharedTF () |
MOVEIT_CLASS_FORWARD (PlanningSceneInterface) | |
MOVEIT_CLASS_FORWARD (PlanningComponent) | |
MOVEIT_CLASS_FORWARD (MoveItCpp) | |
MOVEIT_CLASS_FORWARD (MoveGroupInterface) | |
TEST_F (MoveItCppTest, GetCurrentStateTest) | |
TEST_F (MoveItCppTest, NameOfPlanningGroupTest) | |
TEST_F (MoveItCppTest, TestSetStartStateToCurrentState) | |
TEST_F (MoveItCppTest, TestSetGoalFromPoseStamped) | |
TEST_F (MoveItCppTest, TestSetStartStateFromRobotState) | |
TEST_F (MoveItCppTest, TestSetGoalFromRobotState) | |
Variables | |
const std::string | GRASP_PLANNING_SERVICE_NAME = "plan_grasps" |
constexpr char | LOGNAME [] = "moveit_cpp" |
constexpr char | PLANNING_PLUGIN_PARAM [] = "planning_plugin" |
Simple interface to MoveIt! components.
robot_model::RobotModelConstPtr moveit::planning_interface::getSharedRobotModel | ( | const std::string & | robot_description | ) |
Definition at line 116 of file common_objects.cpp.
CurrentStateMonitorPtr moveit::planning_interface::getSharedStateMonitor | ( | const robot_model::RobotModelConstPtr & | robot_model, |
const std::shared_ptr< tf2_ros::Buffer > & | tf_buffer | ||
) |
getSharedStateMonitor is a simpler version of getSharedStateMonitor(const robot_model::RobotModelConstPtr &robot_model, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, ros::NodeHandle nh = ros::NodeHandle() ). It calls this function using the default constructed ros::NodeHandle
robot_model | |
tf_buffer |
Definition at line 134 of file common_objects.cpp.
CurrentStateMonitorPtr moveit::planning_interface::getSharedStateMonitor | ( | const robot_model::RobotModelConstPtr & | robot_model, |
const std::shared_ptr< tf2_ros::Buffer > & | tf_buffer, | ||
const ros::NodeHandle & | nh | ||
) |
getSharedStateMonitor
robot_model | |
tf_buffer | |
nh | A ros::NodeHandle to pass node specific configurations, such as callbacks queues. |
Definition at line 140 of file common_objects.cpp.
std::shared_ptr< tf2_ros::Buffer > moveit::planning_interface::getSharedTF | ( | ) |
Definition at line 99 of file common_objects.cpp.
moveit::planning_interface::MOVEIT_CLASS_FORWARD | ( | PlanningSceneInterface | ) |
moveit::planning_interface::MOVEIT_CLASS_FORWARD | ( | PlanningComponent | ) |
moveit::planning_interface::MOVEIT_CLASS_FORWARD | ( | MoveItCpp | ) |
moveit::planning_interface::MOVEIT_CLASS_FORWARD | ( | MoveGroupInterface | ) |
moveit::planning_interface::TEST_F | ( | MoveItCppTest | , |
GetCurrentStateTest | |||
) |
Definition at line 96 of file moveit_cpp_test.cpp.
moveit::planning_interface::TEST_F | ( | MoveItCppTest | , |
NameOfPlanningGroupTest | |||
) |
Definition at line 115 of file moveit_cpp_test.cpp.
moveit::planning_interface::TEST_F | ( | MoveItCppTest | , |
TestSetStartStateToCurrentState | |||
) |
Definition at line 121 of file moveit_cpp_test.cpp.
moveit::planning_interface::TEST_F | ( | MoveItCppTest | , |
TestSetGoalFromPoseStamped | |||
) |
Definition at line 131 of file moveit_cpp_test.cpp.
moveit::planning_interface::TEST_F | ( | MoveItCppTest | , |
TestSetStartStateFromRobotState | |||
) |
Definition at line 139 of file moveit_cpp_test.cpp.
moveit::planning_interface::TEST_F | ( | MoveItCppTest | , |
TestSetGoalFromRobotState | |||
) |
Definition at line 151 of file moveit_cpp_test.cpp.
const std::string moveit::planning_interface::GRASP_PLANNING_SERVICE_NAME = "plan_grasps" |
Definition at line 78 of file move_group_interface.cpp.
static const std::string moveit::planning_interface::LOGNAME = "moveit_cpp" |
Definition at line 51 of file moveit_cpp.cpp.
constexpr char moveit::planning_interface::PLANNING_PLUGIN_PARAM[] = "planning_plugin" |
Definition at line 52 of file moveit_cpp.cpp.