#include <kinematics_service_capability.h>
Inheritance diagram for move_group::MoveGroupKinematicsService:
Public Member Functions | |
| void | initialize () override |
| MoveGroupKinematicsService () | |
 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 | |
| bool | computeFKService (moveit_msgs::GetPositionFK::Request &req, moveit_msgs::GetPositionFK::Response &res) |
| void | computeIK (moveit_msgs::PositionIKRequest &req, moveit_msgs::RobotState &solution, moveit_msgs::MoveItErrorCodes &error_code, moveit::core::RobotState &rs, const moveit::core::GroupStateValidityCallbackFn &constraint=moveit::core::GroupStateValidityCallbackFn()) const |
| bool | computeIKService (moveit_msgs::GetPositionIK::Request &req, moveit_msgs::GetPositionIK::Response &res) |
Private Attributes | |
| ros::ServiceServer | fk_service_ |
| ros::ServiceServer | ik_service_ |
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 77 of file kinematics_service_capability.h.
Constructor & Destructor Documentation
◆ MoveGroupKinematicsService()
| move_group::MoveGroupKinematicsService::MoveGroupKinematicsService | ( | ) |
Definition at line 77 of file kinematics_service_capability.cpp.
Member Function Documentation
◆ computeFKService()
|
private |
Definition at line 213 of file kinematics_service_capability.cpp.
◆ computeIK()
|
private |
Definition at line 103 of file kinematics_service_capability.cpp.
◆ computeIKService()
|
private |
Definition at line 180 of file kinematics_service_capability.cpp.
◆ initialize()
|
overridevirtual |
Implements move_group::MoveGroupCapability.
Definition at line 81 of file kinematics_service_capability.cpp.
Member Data Documentation
◆ fk_service_
|
private |
Definition at line 125 of file kinematics_service_capability.h.
◆ ik_service_
|
private |
Definition at line 126 of file kinematics_service_capability.h.
The documentation for this class was generated from the following files: