move_group_capability.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
44 
45 namespace move_group
46 {
47 enum MoveGroupState
48 {
49  IDLE,
50  PLANNING,
51  MONITOR,
52  LOOK
53 };
54 
55 MOVEIT_CLASS_FORWARD(MoveGroupCapability); // Defines MoveGroupCapabilityPtr, ConstPtr, WeakPtr... etc
56 
57 class MoveGroupCapability
58 {
59 public:
60  MoveGroupCapability(const std::string& capability_name) : node_handle_("~"), capability_name_(capability_name)
61  {
62  }
63 
64  virtual ~MoveGroupCapability()
65  {
66  }
67 
68  void setContext(const MoveGroupContextPtr& context);
69 
70  virtual void initialize() = 0;
71 
72  const std::string& getName() const
73  {
74  return capability_name_;
75  }
76 
77 protected:
78  std::string getActionResultString(const moveit_msgs::MoveItErrorCodes& error_code, bool planned_trajectory_empty,
79  bool plan_only);
80  std::string stateToStr(MoveGroupState state) const;
81 
82  void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
83  moveit_msgs::RobotState& first_state_msg,
84  std::vector<moveit_msgs::RobotTrajectory>& trajectory_msg) const;
85  void convertToMsg(const robot_trajectory::RobotTrajectoryPtr& trajectory, moveit_msgs::RobotState& first_state_msg,
86  moveit_msgs::RobotTrajectory& trajectory_msg) const;
87  void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
88  moveit_msgs::RobotState& first_state_msg, moveit_msgs::RobotTrajectory& trajectory_msg) const;
89 
92  moveit_msgs::PlanningScene clearSceneRobotState(const moveit_msgs::PlanningScene& scene) const;
93  bool performTransform(geometry_msgs::PoseStamped& pose_msg, const std::string& target_frame) const;
94 
97  std::string capability_name_;
98  MoveGroupContextPtr context_;
99 };
100 } // namespace move_group
move_group::MoveGroupState
MoveGroupState
Definition: move_group_capability.h:79
move_group::MoveGroupCapability::performTransform
bool performTransform(geometry_msgs::PoseStamped &pose_msg, const std::string &target_frame) const
Definition: move_group_capability.cpp:173
plan_representation.h
move_group::LOOK
@ LOOK
Definition: move_group_capability.h:116
move_group::IDLE
@ IDLE
Definition: move_group_capability.h:113
move_group::MoveGroupCapability::capability_name_
std::string capability_name_
Definition: move_group_capability.h:129
move_group::MoveGroupCapability::context_
MoveGroupContextPtr context_
Definition: move_group_capability.h:130
move_group::MoveGroupCapability::getName
const std::string & getName() const
Definition: move_group_capability.h:104
move_group::MoveGroupCapability::~MoveGroupCapability
virtual ~MoveGroupCapability()
Definition: move_group_capability.h:96
move_group::MoveGroupCapability::MoveGroupCapability
MoveGroupCapability(const std::string &capability_name)
Definition: move_group_capability.h:92
planning_interface.h
move_group::MoveGroupCapability::setContext
void setContext(const MoveGroupContextPtr &context)
Definition: move_group_capability.cpp:41
move_group::MoveGroupCapability::initialize
virtual void initialize()=0
move_group_context.h
move_group::MoveGroupCapability::root_node_handle_
ros::NodeHandle root_node_handle_
Definition: move_group_capability.h:127
planning_scene_monitor.h
move_group::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(MoveGroupCapability)
move_group
Definition: capability_names.h:41
planning_interface::MotionPlanRequest
moveit_msgs::MotionPlanRequest MotionPlanRequest
move_group::MONITOR
@ MONITOR
Definition: move_group_capability.h:115
class_forward.h
move_group::MoveGroupCapability::convertToMsg
void convertToMsg(const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, std::vector< moveit_msgs::RobotTrajectory > &trajectory_msg) const
Definition: move_group_capability.cpp:46
move_group::MoveGroupCapability::getActionResultString
std::string getActionResultString(const moveit_msgs::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only)
Definition: move_group_capability.cpp:112
move_group::MoveGroupCapability::stateToStr
std::string stateToStr(MoveGroupState state) const
Definition: move_group_capability.cpp:156
move_group::MoveGroupCapability::node_handle_
ros::NodeHandle node_handle_
Definition: move_group_capability.h:128
move_group::MoveGroupCapability::clearRequestStartState
planning_interface::MotionPlanRequest clearRequestStartState(const planning_interface::MotionPlanRequest &request) const
Definition: move_group_capability.cpp:91
move_group::MoveGroupCapability::clearSceneRobotState
moveit_msgs::PlanningScene clearSceneRobotState(const moveit_msgs::PlanningScene &scene) const
Definition: move_group_capability.cpp:102
move_group::PLANNING
@ PLANNING
Definition: move_group_capability.h:114
ros::NodeHandle


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sat Dec 12 2020 03:26:45