move_group::MoveGroupCapability Class Reference

#include <move_group_capability.h>

Inheritance diagram for move_group::MoveGroupCapability:

Public Member Functions
const std::string &	getName () const
virtual void	initialize ()=0
	MoveGroupCapability (const std::string &capability_name)
void	setContext (const MoveGroupContextPtr &context)
virtual	~MoveGroupCapability ()

Protected Member Functions
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
std::string	capability_name_
MoveGroupContextPtr	context_
ros::NodeHandle	node_handle_
ros::NodeHandle	root_node_handle_

Detailed Description

Definition at line 89 of file move_group_capability.h.

Constructor & Destructor Documentation

MoveGroupCapability()

move_group::MoveGroupCapability::MoveGroupCapability ( const std::string &  capability_name )

inline

Definition at line 92 of file move_group_capability.h.

~MoveGroupCapability()

virtual move_group::MoveGroupCapability::~MoveGroupCapability ( )

inlinevirtual

Definition at line 96 of file move_group_capability.h.

Member Function Documentation

clearRequestStartState()

planning_interface::MotionPlanRequest move_group::MoveGroupCapability::clearRequestStartState ( const planning_interface::MotionPlanRequest &  request ) const

protected

Definition at line 96 of file move_group_capability.cpp.

clearSceneRobotState()

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

protected

Definition at line 107 of file move_group_capability.cpp.

convertToMsg() [1/3]

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

protected

Definition at line 74 of file move_group_capability.cpp.

convertToMsg() [2/3]

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

protected

Definition at line 85 of file move_group_capability.cpp.

convertToMsg() [3/3]

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

protected

Definition at line 51 of file move_group_capability.cpp.

getActionResultString()

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

protected

Definition at line 117 of file move_group_capability.cpp.

getName()

const std::string& move_group::MoveGroupCapability::getName ( ) const

inline

Definition at line 104 of file move_group_capability.h.

initialize()

virtual void move_group::MoveGroupCapability::initialize ( )

pure virtual

Implemented in move_group::MoveGroupExecuteTrajectoryAction, move_group::ApplyPlanningSceneService, move_group::MoveGroupMoveAction, move_group::MoveGroupQueryPlannersService, move_group::MoveGroupKinematicsService, move_group::TfPublisher, move_group::MoveGroupCartesianPathService, move_group::ClearOctomapService, move_group::MoveGroupPlanService, move_group::MoveGroupStateValidationService, and move_group::MoveGroupGetPlanningSceneService.

performTransform()

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

protected

Definition at line 166 of file move_group_capability.cpp.

resolvePlanningPipeline()

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

protected

Definition at line 196 of file move_group_capability.cpp.

setContext()

void move_group::MoveGroupCapability::setContext

(

const MoveGroupContextPtr &

context

)

Definition at line 46 of file move_group_capability.cpp.

stateToStr()

std::string move_group::MoveGroupCapability::stateToStr ( MoveGroupState  state ) const

protected

Definition at line 149 of file move_group_capability.cpp.

Member Data Documentation

capability_name_

std::string move_group::MoveGroupCapability::capability_name_

protected

Definition at line 131 of file move_group_capability.h.

context_

MoveGroupContextPtr move_group::MoveGroupCapability::context_

protected

Definition at line 132 of file move_group_capability.h.

node_handle_

ros::NodeHandle move_group::MoveGroupCapability::node_handle_

protected

Definition at line 130 of file move_group_capability.h.

root_node_handle_

ros::NodeHandle move_group::MoveGroupCapability::root_node_handle_

protected

Definition at line 129 of file move_group_capability.h.

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

• move_group_capability.h
• move_group_capability.cpp