#include <pick_place_action_capability.h>

Inheritance diagram for move_group::MoveGroupPickPlaceAction:

Public Member Functions
void	initialize () override

	MoveGroupPickPlaceAction ()

Public Member Functions inherited from move_group::MoveGroupCapability
const std::string &	getName () const

	MoveGroupCapability (const std::string &capability_name)

void	setContext (const MoveGroupContextPtr &context)

virtual	~MoveGroupCapability ()

Private Member Functions
void	executePickupCallback (const moveit_msgs::PickupGoalConstPtr &goal)

void	executePickupCallbackPlanAndExecute (const moveit_msgs::PickupGoalConstPtr &goal, moveit_msgs::PickupResult &action_res)

void	executePickupCallbackPlanOnly (const moveit_msgs::PickupGoalConstPtr &goal, moveit_msgs::PickupResult &action_res)

void	executePlaceCallback (const moveit_msgs::PlaceGoalConstPtr &goal)

void	executePlaceCallbackPlanAndExecute (const moveit_msgs::PlaceGoalConstPtr &goal, moveit_msgs::PlaceResult &action_res)

void	executePlaceCallbackPlanOnly (const moveit_msgs::PlaceGoalConstPtr &goal, moveit_msgs::PlaceResult &action_res)

void	fillGrasps (moveit_msgs::PickupGoal &goal)

bool	planUsingPickPlacePickup (const moveit_msgs::PickupGoal &goal, moveit_msgs::PickupResult *action_res, plan_execution::ExecutableMotionPlan &plan)

bool	planUsingPickPlacePlace (const moveit_msgs::PlaceGoal &goal, moveit_msgs::PlaceResult *action_res, plan_execution::ExecutableMotionPlan &plan)

void	preemptPickupCallback ()

void	preemptPlaceCallback ()

void	setPickupState (MoveGroupState state)

void	setPlaceState (MoveGroupState state)

void	startPickupExecutionCallback ()

void	startPickupLookCallback ()

void	startPlaceExecutionCallback ()

void	startPlaceLookCallback ()

Private Attributes
std::unique_ptr< moveit_msgs::AttachedCollisionObject >	diff_attached_object_

ros::ServiceClient	grasp_planning_service_

pick_place::PickPlacePtr	pick_place_

std::unique_ptr< actionlib::SimpleActionServer< moveit_msgs::PickupAction > >	pickup_action_server_

moveit_msgs::PickupFeedback	pickup_feedback_

MoveGroupState	pickup_state_

std::unique_ptr< actionlib::SimpleActionServer< moveit_msgs::PlaceAction > >	place_action_server_

moveit_msgs::PlaceFeedback	place_feedback_

MoveGroupState	place_state_

Additional Inherited Members
Protected Member Functions inherited from move_group::MoveGroupCapability
planning_interface::MotionPlanRequest	clearRequestStartState (const planning_interface::MotionPlanRequest &request) const

moveit_msgs::PlanningScene	clearSceneRobotState (const moveit_msgs::PlanningScene &scene) const

void	convertToMsg (const robot_trajectory::RobotTrajectoryPtr &trajectory, moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const

void	convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const

void	convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, std::vector< moveit_msgs::RobotTrajectory > &trajectory_msg) const

std::string	getActionResultString (const moveit_msgs::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only)

bool	performTransform (geometry_msgs::PoseStamped &pose_msg, const std::string &target_frame) const

planning_pipeline::PlanningPipelinePtr	resolvePlanningPipeline (const std::string &pipeline_id) const

std::string	stateToStr (MoveGroupState state) const

Protected Attributes inherited from move_group::MoveGroupCapability
std::string	capability_name_

MoveGroupContextPtr	context_

ros::NodeHandle	node_handle_

ros::NodeHandle	root_node_handle_

Detailed Description

Definition at line 81 of file pick_place_action_capability.h.

Constructor & Destructor Documentation

◆ MoveGroupPickPlaceAction()

move_group::MoveGroupPickPlaceAction::MoveGroupPickPlaceAction ( )

Definition at line 42 of file pick_place_action_capability.cpp.

Member Function Documentation

◆ executePickupCallback()

void move_group::MoveGroupPickPlaceAction::executePickupCallback ( const moveit_msgs::PickupGoalConstPtr & goal )

private

Definition at line 321 of file pick_place_action_capability.cpp.

◆ executePickupCallbackPlanAndExecute()

void move_group::MoveGroupPickPlaceAction::executePickupCallbackPlanAndExecute	(	const moveit_msgs::PickupGoalConstPtr &	goal,
		moveit_msgs::PickupResult &	action_res
	)

private

Definition at line 254 of file pick_place_action_capability.cpp.

◆ executePickupCallbackPlanOnly()

void move_group::MoveGroupPickPlaceAction::executePickupCallbackPlanOnly	(	const moveit_msgs::PickupGoalConstPtr &	goal,
		moveit_msgs::PickupResult &	action_res
	)

private

Definition at line 88 of file pick_place_action_capability.cpp.

◆ executePlaceCallback()

void move_group::MoveGroupPickPlaceAction::executePlaceCallback ( const moveit_msgs::PlaceGoalConstPtr & goal )

private

Definition at line 368 of file pick_place_action_capability.cpp.

◆ executePlaceCallbackPlanAndExecute()

void move_group::MoveGroupPickPlaceAction::executePlaceCallbackPlanAndExecute	(	const moveit_msgs::PlaceGoalConstPtr &	goal,
		moveit_msgs::PlaceResult &	action_res
	)

private

Definition at line 288 of file pick_place_action_capability.cpp.

◆ executePlaceCallbackPlanOnly()

void move_group::MoveGroupPickPlaceAction::executePlaceCallbackPlanOnly	(	const moveit_msgs::PlaceGoalConstPtr &	goal,
		moveit_msgs::PlaceResult &	action_res
	)

private

Definition at line 128 of file pick_place_action_capability.cpp.

◆ fillGrasps()

void move_group::MoveGroupPickPlaceAction::fillGrasps ( moveit_msgs::PickupGoal & goal )

private

Definition at line 427 of file pick_place_action_capability.cpp.

◆ initialize()

void move_group::MoveGroupPickPlaceAction::initialize ( )

overridevirtual

Implements move_group::MoveGroupCapability.

Definition at line 47 of file pick_place_action_capability.cpp.

◆ planUsingPickPlacePickup()

bool move_group::MoveGroupPickPlaceAction::planUsingPickPlacePickup	(	const moveit_msgs::PickupGoal &	goal,
		moveit_msgs::PickupResult *	action_res,
		plan_execution::ExecutableMotionPlan &	plan
	)

private

Definition at line 168 of file pick_place_action_capability.cpp.

◆ planUsingPickPlacePlace()

bool move_group::MoveGroupPickPlaceAction::planUsingPickPlacePlace	(	const moveit_msgs::PlaceGoal &	goal,
		moveit_msgs::PlaceResult *	action_res,
		plan_execution::ExecutableMotionPlan &	plan
	)