MoveItBridge Class Reference

#include <moveit_bridge.h>

Public Member Functions
bool	calcPlannedPath (const std::string planning_group, open_manipulator_msgs::JointPosition msg)
bool	calcPlannedPath (const std::string planning_group, open_manipulator_msgs::KinematicsPose msg)
void	controlCallback (const ros::TimerEvent &)
void	displayPlannedPathMsgCallback (const moveit_msgs::DisplayTrajectory::ConstPtr &msg)
bool	getJointPositionMsgCallback (open_manipulator_msgs::GetJointPosition::Request &req, open_manipulator_msgs::GetJointPosition::Response &res)
bool	getKinematicsPoseMsgCallback (open_manipulator_msgs::GetKinematicsPose::Request &req, open_manipulator_msgs::GetKinematicsPose::Response &res)
void	initPublisher ()
void	initServer ()
void	initSubscriber ()
	MoveItBridge ()
bool	setJointPositionMsgCallback (open_manipulator_msgs::SetJointPosition::Request &req, open_manipulator_msgs::SetJointPosition::Response &res)
bool	setKinematicsPoseMsgCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)
virtual	~MoveItBridge ()

Private Attributes
ros::Subscriber	display_planned_path_sub_
ros::ServiceServer	get_joint_position_server_
ros::ServiceServer	get_kinematics_pose_server_
ros::Publisher	joint_trajectory_point_pub_
moveit::planning_interface::MoveGroupInterface *	move_group_
ros::NodeHandle	nh_
std::string	planning_group_
ros::NodeHandle	priv_nh_
ros::ServiceServer	set_joint_position_server_
ros::ServiceServer	set_kinematics_pose_server_
bool	use_gazebo_

Detailed Description

Definition at line 52 of file moveit_bridge.h.

Constructor & Destructor Documentation

MoveItBridge()

MoveItBridge::MoveItBridge

(

)

Definition at line 21 of file moveit_bridge.cpp.

~MoveItBridge()

MoveItBridge::~MoveItBridge ( )

virtual

Definition at line 32 of file moveit_bridge.cpp.

Member Function Documentation

calcPlannedPath() [1/2]

bool MoveItBridge::calcPlannedPath	(	const std::string	planning_group,
		open_manipulator_msgs::JointPosition	msg
	)

Definition at line 143 of file moveit_bridge.cpp.

calcPlannedPath() [2/2]

bool MoveItBridge::calcPlannedPath	(	const std::string	planning_group,
		open_manipulator_msgs::KinematicsPose	msg
	)

Definition at line 109 of file moveit_bridge.cpp.

controlCallback()

void MoveItBridge::controlCallback

(

const ros::TimerEvent &

)

displayPlannedPathMsgCallback()

void MoveItBridge::displayPlannedPathMsgCallback

(

const moveit_msgs::DisplayTrajectory::ConstPtr &

msg

)

Definition at line 187 of file moveit_bridge.cpp.

getJointPositionMsgCallback()

bool MoveItBridge::getJointPositionMsgCallback	(	open_manipulator_msgs::GetJointPosition::Request &	req,
		open_manipulator_msgs::GetJointPosition::Response &	res
	)

Definition at line 57 of file moveit_bridge.cpp.

getKinematicsPoseMsgCallback()

bool MoveItBridge::getKinematicsPoseMsgCallback	(	open_manipulator_msgs::GetKinematicsPose::Request &	req,
		open_manipulator_msgs::GetKinematicsPose::Response &	res
	)

Definition at line 76 of file moveit_bridge.cpp.

initPublisher()

void MoveItBridge::initPublisher

(

)

Definition at line 38 of file moveit_bridge.cpp.

initServer()

void MoveItBridge::initServer

(

)

Definition at line 49 of file moveit_bridge.cpp.

initSubscriber()

void MoveItBridge::initSubscriber

(

)

Definition at line 43 of file moveit_bridge.cpp.

setJointPositionMsgCallback()

bool MoveItBridge::setJointPositionMsgCallback	(	open_manipulator_msgs::SetJointPosition::Request &	req,
		open_manipulator_msgs::SetJointPosition::Response &	res
	)

Definition at line 91 of file moveit_bridge.cpp.

setKinematicsPoseMsgCallback()

bool MoveItBridge::setKinematicsPoseMsgCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

Definition at line 100 of file moveit_bridge.cpp.

Member Data Documentation

display_planned_path_sub_

ros::Subscriber MoveItBridge::display_planned_path_sub_

private

Definition at line 67 of file moveit_bridge.h.

get_joint_position_server_

ros::ServiceServer MoveItBridge::get_joint_position_server_

private

Definition at line 70 of file moveit_bridge.h.

get_kinematics_pose_server_

ros::ServiceServer MoveItBridge::get_kinematics_pose_server_

private

Definition at line 71 of file moveit_bridge.h.

joint_trajectory_point_pub_

ros::Publisher MoveItBridge::joint_trajectory_point_pub_

private

Definition at line 64 of file moveit_bridge.h.

move_group_

moveit::planning_interface::MoveGroupInterface* MoveItBridge::move_group_

private

Definition at line 78 of file moveit_bridge.h.

nh_

ros::NodeHandle MoveItBridge::nh_

private

Definition at line 56 of file moveit_bridge.h.

planning_group_

std::string MoveItBridge::planning_group_

private

Definition at line 60 of file moveit_bridge.h.

priv_nh_

ros::NodeHandle MoveItBridge::priv_nh_

private

Definition at line 57 of file moveit_bridge.h.

set_joint_position_server_

ros::ServiceServer MoveItBridge::set_joint_position_server_

private

Definition at line 72 of file moveit_bridge.h.

set_kinematics_pose_server_

ros::ServiceServer MoveItBridge::set_kinematics_pose_server_

private

Definition at line 73 of file moveit_bridge.h.

use_gazebo_

bool MoveItBridge::use_gazebo_

private

Definition at line 61 of file moveit_bridge.h.

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

• moveit_bridge.h
• moveit_bridge.cpp