#include <plan_execution.h>

Classes
class	DynamicReconfigureImpl

struct	Options

Public Member Functions
moveit_msgs::MoveItErrorCodes	executeAndMonitor (ExecutableMotionPlan &plan, bool reset_preempted=true)
	Execute and monitor a previously created plan. More...

unsigned int	getMaxReplanAttempts () const

const planning_scene_monitor::PlanningSceneMonitorPtr &	getPlanningSceneMonitor () const

const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	getTrajectoryExecutionManager () const

double	getTrajectoryStateRecordingFrequency () const

void	planAndExecute (ExecutableMotionPlan &plan, const moveit_msgs::PlanningScene &scene_diff, const Options &opt)

void	planAndExecute (ExecutableMotionPlan &plan, const Options &opt)

	PlanExecution (const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor, const trajectory_execution_manager::TrajectoryExecutionManagerPtr &trajectory_execution)

void	setMaxReplanAttempts (unsigned int attempts)

void	setTrajectoryStateRecordingFrequency (double freq)

void	stop ()

	~PlanExecution ()

Private Member Functions
void	doneWithTrajectoryExecution (const moveit_controller_manager::ExecutionStatus &status)

bool	isRemainingPathValid (const ExecutableMotionPlan &plan, const std::pair< int, int > &path_segment)

void	planAndExecuteHelper (ExecutableMotionPlan &plan, const Options &opt)

void	planningSceneUpdatedCallback (const planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)

void	successfulTrajectorySegmentExecution (const ExecutableMotionPlan &plan, std::size_t index)

Private Attributes
unsigned int	default_max_replan_attempts_

bool	execution_complete_

bool	new_scene_update_

ros::NodeHandle	node_handle_

bool	path_became_invalid_

planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_

class {
std::atomic< bool > preemption_requested { false }

}	preempt_

DynamicReconfigureImpl *	reconfigure_impl_

trajectory_execution_manager::TrajectoryExecutionManagerPtr	trajectory_execution_manager_

planning_scene_monitor::TrajectoryMonitorPtr	trajectory_monitor_

Detailed Description

Definition at line 86 of file plan_execution.h.

Constructor & Destructor Documentation

◆ PlanExecution()

plan_execution::PlanExecution::PlanExecution	(	const planning_scene_monitor::PlanningSceneMonitorPtr &	planning_scene_monitor,
		const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	trajectory_execution
	)

Definition at line 74 of file plan_execution.cpp.

◆ ~PlanExecution()

plan_execution::PlanExecution::~PlanExecution ( )

Definition at line 98 of file plan_execution.cpp.

Member Function Documentation

◆ doneWithTrajectoryExecution()

void plan_execution::PlanExecution::doneWithTrajectoryExecution ( const moveit_controller_manager::ExecutionStatus & status )

private

Definition at line 471 of file plan_execution.cpp.

◆ executeAndMonitor()

moveit_msgs::MoveItErrorCodes plan_execution::PlanExecution::executeAndMonitor	(	ExecutableMotionPlan &	plan,
		bool	reset_preempted = `true`
	)

Execute and monitor a previously created plan.

In case there is no planning_scene or planning_scene_monitor set in the plan they will be set at the start of the method. They are then used to monitor the execution.

Definition at line 287 of file plan_execution.cpp.

◆ getMaxReplanAttempts()

unsigned int plan_execution::PlanExecution::getMaxReplanAttempts ( ) const

inline

Definition at line 158 of file plan_execution.h.

◆ getPlanningSceneMonitor()

const planning_scene_monitor::PlanningSceneMonitorPtr& plan_execution::PlanExecution::getPlanningSceneMonitor ( ) const

inline

Definition at line 129 of file plan_execution.h.

◆ getTrajectoryExecutionManager()

const trajectory_execution_manager::TrajectoryExecutionManagerPtr& plan_execution::PlanExecution::getTrajectoryExecutionManager ( ) const

inline

Definition at line 134 of file plan_execution.h.

◆ getTrajectoryStateRecordingFrequency()

double plan_execution::PlanExecution::getTrajectoryStateRecordingFrequency ( ) const

inline

Definition at line 139 of file plan_execution.h.

◆ isRemainingPathValid()

bool plan_execution::PlanExecution::isRemainingPathValid	(	const ExecutableMotionPlan &	plan,
		const std::pair< int, int > &	path_segment
	)

private

Definition at line 245 of file plan_execution.cpp.

◆ planAndExecute() [1/2]

void plan_execution::PlanExecution::planAndExecute	(	ExecutableMotionPlan &	plan,
		const moveit_msgs::PlanningScene &	scene_diff,
		const Options &	opt
	)

Definition at line 115 of file plan_execution.cpp.

◆ planAndExecute() [2/2]

void plan_execution::PlanExecution::planAndExecute	(	ExecutableMotionPlan &	plan,
		const Options &	opt
	)

Definition at line 108 of file plan_execution.cpp.

◆ planAndExecuteHelper()

void plan_execution::PlanExecution::planAndExecuteHelper	(	ExecutableMotionPlan &	plan,
		const Options &	opt
	)

private

Definition at line 134 of file plan_execution.cpp.

◆ planningSceneUpdatedCallback()

void plan_execution::PlanExecution::planningSceneUpdatedCallback ( const planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type )

private

Definition at line 463 of file plan_execution.cpp.

◆ setMaxReplanAttempts()

void plan_execution::PlanExecution::setMaxReplanAttempts ( unsigned int attempts )

inline

Definition at line 153 of file plan_execution.h.

◆ setTrajectoryStateRecordingFrequency()

void plan_execution::PlanExecution::setTrajectoryStateRecordingFrequency ( double freq )

inline

Definition at line 147 of file plan_execution.h.

◆ stop()

void plan_execution::PlanExecution::stop ( )

Definition at line 103 of file plan_execution.cpp.

◆ successfulTrajectorySegmentExecution()

void plan_execution::PlanExecution::successfulTrajectorySegmentExecution	(	const ExecutableMotionPlan &	plan,
		std::size_t	index
	)

private

Definition at line 477 of file plan_execution.cpp.

Member Data Documentation

◆ default_max_replan_attempts_

unsigned int plan_execution::PlanExecution::default_max_replan_attempts_

private

Definition at line 187 of file plan_execution.h.

◆ execution_complete_

bool plan_execution::PlanExecution::execution_complete_

private

Definition at line 210 of file plan_execution.h.

◆ new_scene_update_

bool plan_execution::PlanExecution::new_scene_update_

private

Definition at line 208 of file plan_execution.h.

◆ node_handle_

ros::NodeHandle plan_execution::PlanExecution::node_handle_

private

Definition at line 182 of file plan_execution.h.

◆ path_became_invalid_

bool plan_execution::PlanExecution::path_became_invalid_

private

Definition at line 211 of file plan_execution.h.

◆ planning_scene_monitor_

planning_scene_monitor::PlanningSceneMonitorPtr plan_execution::PlanExecution::planning_scene_monitor_

private

Definition at line 183 of file plan_execution.h.

◆ preempt_

class { ... } plan_execution::PlanExecution::preempt_

◆ preemption_requested

std::atomic<bool> plan_execution::PlanExecution::preemption_requested { false }

private

Definition at line 192 of file plan_execution.h.

◆ reconfigure_impl_

DynamicReconfigureImpl* plan_execution::PlanExecution::reconfigure_impl_

private

Definition at line 213 of file plan_execution.h.

◆ trajectory_execution_manager_

trajectory_execution_manager::TrajectoryExecutionManagerPtr plan_execution::PlanExecution::trajectory_execution_manager_

private

Definition at line 184 of file plan_execution.h.

◆ trajectory_monitor_

planning_scene_monitor::TrajectoryMonitorPtr plan_execution::PlanExecution::trajectory_monitor_

private

Definition at line 185 of file plan_execution.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PlanExecution()

◆ ~PlanExecution()

Member Function Documentation

◆ doneWithTrajectoryExecution()

◆ executeAndMonitor()

◆ getMaxReplanAttempts()

◆ getPlanningSceneMonitor()

◆ getTrajectoryExecutionManager()

◆ getTrajectoryStateRecordingFrequency()

◆ isRemainingPathValid()

◆ planAndExecute() [1/2]

◆ planAndExecute() [2/2]

◆ planAndExecuteHelper()

◆ planningSceneUpdatedCallback()

◆ setMaxReplanAttempts()

◆ setTrajectoryStateRecordingFrequency()

◆ stop()

◆ successfulTrajectorySegmentExecution()

Member Data Documentation

◆ default_max_replan_attempts_

◆ execution_complete_

◆ new_scene_update_

◆ node_handle_

◆ path_became_invalid_

◆ planning_scene_monitor_

◆ preempt_

◆ preemption_requested

◆ reconfigure_impl_

◆ trajectory_execution_manager_

◆ trajectory_monitor_