moveit_commander.robot.RobotCommander Class Reference

Inheritance diagram for moveit_commander.robot.RobotCommander:

Classes
class	Joint
class	Link

Public Member Functions
def	__getattr__ (self, name)
def	__init__ (self, robot_description="robot_description", ns="")
def	get_active_joint_names (self, group=None)
def	get_current_state (self)
def	get_current_variable_values (self)
def	get_default_owner_group (self, joint_name)
def	get_group (self, name)
def	get_group_names (self)
def	get_joint (self, name)
def	get_joint_names (self, group=None)
def	get_link (self, name)
def	get_link_names (self, group=None)
def	get_planning_frame (self)
def	get_robot_markers (self, *args)
def	get_root_link (self)
def	has_group (self, name)

Private Attributes
	_groups
	_joint_owner_groups
	_ns
	_r
	_robot_description

Detailed Description

Definition at line 43 of file robot.py.

Constructor & Destructor Documentation

__init__()

def moveit_commander.robot.RobotCommander.__init__	(		self,
			robot_description = "robot_description",
			ns = ""
	)

Definition at line 154 of file robot.py.

Member Function Documentation

__getattr__()

def moveit_commander.robot.RobotCommander.__getattr__	(		self,
			name
	)

We catch the names of groups, joints and links to allow easy access
to their properties.

Definition at line 317 of file robot.py.

get_active_joint_names()

def moveit_commander.robot.RobotCommander.get_active_joint_names	(		self,
			group = None
	)

Get the names of all the movable joints that make up a group.
If no group name is specified, all joints in the robot model are returned.
Excludes fixed and mimic joints.

Definition at line 198 of file robot.py.

get_current_state()

def moveit_commander.robot.RobotCommander.get_current_state

(

self

)

Get a RobotState message describing the current state of the robot

Definition at line 243 of file robot.py.

get_current_variable_values()

def moveit_commander.robot.RobotCommander.get_current_variable_values

(

self

)

Get a dictionary mapping variable names to values.
Note that a joint may consist of one or more variables.

Definition at line 249 of file robot.py.

get_default_owner_group()

def moveit_commander.robot.RobotCommander.get_default_owner_group	(		self,
			joint_name
	)

Get the name of the smallest group (fewest joints) that includes
the joint name specified as argument.

Definition at line 298 of file robot.py.

get_group()

def moveit_commander.robot.RobotCommander.get_group	(		self,
			name
	)

@param name str: Name of movegroup
@rtype: moveit_commander.MoveGroupCommander

Definition at line 278 of file robot.py.

get_group_names()

def moveit_commander.robot.RobotCommander.get_group_names

(

self

)

Get the names of the groups defined for the robot

Definition at line 239 of file robot.py.

get_joint()

def moveit_commander.robot.RobotCommander.get_joint	(		self,
			name
	)

@param name str: Name of movegroup
@rtype: moveit_commander.robot.Joint
@raise exception: MoveItCommanderException

Definition at line 256 of file robot.py.

get_joint_names()

def moveit_commander.robot.RobotCommander.get_joint_names	(		self,
			group = None
	)

Get the names of all the movable joints that make up a group.
If no group name is specified, all joints in the robot model are returned.
Includes fixed and mimic joints.

Definition at line 212 of file robot.py.

get_link()

def moveit_commander.robot.RobotCommander.get_link	(		self,
			name
	)

@param name str: Name of movegroup
@rtype: moveit_commander.robot.Link
@raise exception: MoveItCommanderException

Definition at line 267 of file robot.py.

get_link_names()

def moveit_commander.robot.RobotCommander.get_link_names	(		self,
			group = None
	)

Get the links that make up a group. If no group name is specified,
all the links in the robot model are returned.

Definition at line 226 of file robot.py.

get_planning_frame()

def moveit_commander.robot.RobotCommander.get_planning_frame

(

self

)

Get the frame of reference in which planning is done (and environment
is maintained)

Definition at line 161 of file robot.py.

get_robot_markers()

def moveit_commander.robot.RobotCommander.get_robot_markers	(		self,
		*	args
	)

Get a MarkerArray of the markers that make up this robot

Usage:
    (): get's all markers for current state
    state (RobotState): gets markers for a particular state
    values (dict): get markers with given values
    values, links (dict, list): get markers with given values and these links
    group (string):  get all markers for a group
    group, values (string, dict): get all markers for a group with desired values

Definition at line 168 of file robot.py.

get_root_link()

def moveit_commander.robot.RobotCommander.get_root_link

(

self

)

Get the name of the root link of the robot model

Definition at line 194 of file robot.py.

has_group()

def moveit_commander.robot.RobotCommander.has_group	(		self,
			name
	)

@param name str: Name of movegroup
@rtype: bool

Definition at line 291 of file robot.py.

Member Data Documentation

_groups

moveit_commander.robot.RobotCommander._groups

private

Definition at line 158 of file robot.py.

_joint_owner_groups

moveit_commander.robot.RobotCommander._joint_owner_groups

private

Definition at line 159 of file robot.py.

_ns

moveit_commander.robot.RobotCommander._ns

private

Definition at line 156 of file robot.py.

_r

moveit_commander.robot.RobotCommander._r

private

Definition at line 157 of file robot.py.

_robot_description

moveit_commander.robot.RobotCommander._robot_description

private

Definition at line 155 of file robot.py.

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

• robot.py