This namespace includes the central class for representing planning contexts. More...
Classes | |
| class | PlanningScene |
| This class maintains the representation of the environment as seen by a planning instance. The environment geometry, the robot geometry and state are maintained. More... | |
| class | SceneTransforms |
Typedefs | |
| using | MotionFeasibilityFn = boost::function< bool(const moveit::core::RobotState &, const moveit::core::RobotState &, bool)> |
| This is the function signature for additional feasibility checks to be imposed on motions segments between states (in addition to respecting constraints and collision avoidance). The order of the arguments matters: the notion of feasibility is to be checked for motion segments that start at the first state and end at the second state. The third argument indicates whether the check should be verbose or not. More... | |
| using | ObjectColorMap = std::map< std::string, std_msgs::ColorRGBA > |
| A map from object names (e.g., attached bodies, collision objects) to their colors. More... | |
| using | ObjectTypeMap = std::map< std::string, object_recognition_msgs::ObjectType > |
| A map from object names (e.g., attached bodies, collision objects) to their types. More... | |
| typedef boost::function< bool(const moveit::core::RobotState &, bool)> | StateFeasibilityFn |
| This is the function signature for additional feasibility checks to be imposed on states (in addition to respecting constraints and collision avoidance). The first argument is the state to check the feasibility for, the second one is whether the check should be verbose or not. More... | |
Functions | |
| MOVEIT_CLASS_FORWARD (PlanningScene) | |
Variables | |
| const std::string | LOGNAME = "planning_scene" |
This namespace includes the central class for representing planning contexts.
| using planning_scene::MotionFeasibilityFn = typedef boost::function<bool(const moveit::core::RobotState&, const moveit::core::RobotState&, bool)> |
This is the function signature for additional feasibility checks to be imposed on motions segments between states (in addition to respecting constraints and collision avoidance). The order of the arguments matters: the notion of feasibility is to be checked for motion segments that start at the first state and end at the second state. The third argument indicates whether the check should be verbose or not.
Definition at line 108 of file planning_scene.h.
| using planning_scene::ObjectColorMap = typedef std::map<std::string, std_msgs::ColorRGBA> |
A map from object names (e.g., attached bodies, collision objects) to their colors.
Definition at line 111 of file planning_scene.h.
| using planning_scene::ObjectTypeMap = typedef std::map<std::string, object_recognition_msgs::ObjectType> |
A map from object names (e.g., attached bodies, collision objects) to their types.
Definition at line 114 of file planning_scene.h.
| typedef boost::function<bool(const moveit::core::RobotState&, bool)> planning_scene::StateFeasibilityFn |
This is the function signature for additional feasibility checks to be imposed on states (in addition to respecting constraints and collision avoidance). The first argument is the state to check the feasibility for, the second one is whether the check should be verbose or not.
Definition at line 100 of file planning_scene.h.
| planning_scene::MOVEIT_CLASS_FORWARD | ( | PlanningScene | ) |
| const std::string planning_scene::LOGNAME = "planning_scene" |
Definition at line 89 of file planning_scene.cpp.