#include <planning_scene_interface.h>
Classes | |
| class | PlanningSceneInterfaceImpl |
Public Member Functions | |
| PlanningSceneInterface (const std::string &ns="", bool wait=true, bool persistent_connections=false) | |
| ~PlanningSceneInterface () | |
Manage the world | |
| std::vector< std::string > | getKnownObjectNames (bool with_type=false) |
| Get the names of all known objects in the world. If with_type is set to true, only return objects that have a known type. More... | |
| std::vector< std::string > | getKnownObjectNamesInROI (double minx, double miny, double minz, double maxx, double maxy, double maxz, bool with_type, std::vector< std::string > &types) |
| Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by getPlanningFrame()). More... | |
| std::vector< std::string > | getKnownObjectNamesInROI (double minx, double miny, double minz, double maxx, double maxy, double maxz, bool with_type=false) |
| Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by getPlanningFrame()). If with_type is set to true, only return objects that have a known type. More... | |
| std::map< std::string, geometry_msgs::Pose > | getObjectPoses (const std::vector< std::string > &object_ids) |
| Get the poses from the objects identified by the given object ids list. More... | |
| std::map< std::string, moveit_msgs::CollisionObject > | getObjects (const std::vector< std::string > &object_ids=std::vector< std::string >()) |
| Get the objects identified by the given object ids list. If no ids are provided, return all the known objects. More... | |
| std::map< std::string, moveit_msgs::AttachedCollisionObject > | getAttachedObjects (const std::vector< std::string > &object_ids=std::vector< std::string >()) |
| Get the attached objects identified by the given object ids list. If no ids are provided, return all the attached objects. More... | |
| bool | applyCollisionObject (const moveit_msgs::CollisionObject &collision_object) |
| Apply collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene. More... | |
| bool | applyCollisionObject (const moveit_msgs::CollisionObject &collision_object, const std_msgs::ColorRGBA &object_color) |
| Apply collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene. More... | |
| bool | applyCollisionObjects (const std::vector< moveit_msgs::CollisionObject > &collision_objects, const std::vector< moveit_msgs::ObjectColor > &object_colors=std::vector< moveit_msgs::ObjectColor >()) |
| Apply collision objects to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene. If object_colors do not specify an id, the corresponding object id from collision_objects is used. More... | |
| bool | applyAttachedCollisionObject (const moveit_msgs::AttachedCollisionObject &attached_collision_object) |
| Apply attached collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene. More... | |
| bool | applyAttachedCollisionObjects (const std::vector< moveit_msgs::AttachedCollisionObject > &attached_collision_objects) |
| Apply attached collision objects to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene. More... | |
| moveit_msgs::PlanningScene | getPlanningSceneMsg (uint32_t components) |
| Get given components from move_group's PlanningScene. More... | |
| bool | applyPlanningScene (const moveit_msgs::PlanningScene &ps) |
| Update the planning_scene of the move_group node with the given ps synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene. More... | |
| void | addCollisionObjects (const std::vector< moveit_msgs::CollisionObject > &collision_objects, const std::vector< moveit_msgs::ObjectColor > &object_colors=std::vector< moveit_msgs::ObjectColor >()) const |
| Add collision objects to the world via /planning_scene. Make sure object.operation is set to object.ADD. More... | |
| void | removeCollisionObjects (const std::vector< std::string > &object_ids) const |
| Remove collision objects from the world via /planning_scene. More... | |
| bool | clear () |
| Remove all the collision and attached objects from the world via the planning scene of the move_group node synchronously. More... | |
Private Attributes | |
| PlanningSceneInterfaceImpl * | impl_ |
Definition at line 116 of file planning_scene_interface.h.
|
explicit |
| ns. | Namespace in which all MoveIt related topics and services are discovered |
| wait. | Wait for services if they are not announced in ROS. If this is false, the constructor throws std::runtime_error instead. |
| persistent_connections. | Create persistent connection for the get planning scene and apply planning scene services. |
Definition at line 454 of file planning_scene_interface/src/planning_scene_interface.cpp.
| moveit::planning_interface::PlanningSceneInterface::~PlanningSceneInterface | ( | ) |
Definition at line 459 of file planning_scene_interface/src/planning_scene_interface.cpp.
| void moveit::planning_interface::PlanningSceneInterface::addCollisionObjects | ( | const std::vector< moveit_msgs::CollisionObject > & | collision_objects, |
| const std::vector< moveit_msgs::ObjectColor > & | object_colors = std::vector<moveit_msgs::ObjectColor>() |
||
| ) | const |
Add collision objects to the world via /planning_scene. Make sure object.operation is set to object.ADD.
The update runs asynchronously. If you need the objects to be available directly after you called this function, consider using applyCollisionObjects instead.
Definition at line 570 of file planning_scene_interface/src/planning_scene_interface.cpp.
| bool moveit::planning_interface::PlanningSceneInterface::applyAttachedCollisionObject | ( | const moveit_msgs::AttachedCollisionObject & | attached_collision_object | ) |
Apply attached collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.
Definition at line 540 of file planning_scene_interface/src/planning_scene_interface.cpp.
| bool moveit::planning_interface::PlanningSceneInterface::applyAttachedCollisionObjects | ( | const std::vector< moveit_msgs::AttachedCollisionObject > & | attached_collision_objects | ) |
Apply attached collision objects to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.
Definition at line 550 of file planning_scene_interface/src/planning_scene_interface.cpp.
| bool moveit::planning_interface::PlanningSceneInterface::applyCollisionObject | ( | const moveit_msgs::CollisionObject & | collision_object | ) |
Apply collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.
Definition at line 495 of file planning_scene_interface/src/planning_scene_interface.cpp.
| bool moveit::planning_interface::PlanningSceneInterface::applyCollisionObject | ( | const moveit_msgs::CollisionObject & | collision_object, |
| const std_msgs::ColorRGBA & | object_color | ||
| ) |
Apply collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.
Definition at line 505 of file planning_scene_interface/src/planning_scene_interface.cpp.
| bool moveit::planning_interface::PlanningSceneInterface::applyCollisionObjects | ( | const std::vector< moveit_msgs::CollisionObject > & | collision_objects, |
| const std::vector< moveit_msgs::ObjectColor > & | object_colors = std::vector<moveit_msgs::ObjectColor>() |
||
| ) |
Apply collision objects to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene. If object_colors do not specify an id, the corresponding object id from collision_objects is used.
Definition at line 520 of file planning_scene_interface/src/planning_scene_interface.cpp.
| bool moveit::planning_interface::PlanningSceneInterface::applyPlanningScene | ( | const moveit_msgs::PlanningScene & | ps | ) |
Update the planning_scene of the move_group node with the given ps synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.
Definition at line 565 of file planning_scene_interface/src/planning_scene_interface.cpp.
| bool moveit::planning_interface::PlanningSceneInterface::clear | ( | ) |
Remove all the collision and attached objects from the world via the planning scene of the move_group node synchronously.
Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene
Definition at line 581 of file planning_scene_interface/src/planning_scene_interface.cpp.
| std::map< std::string, moveit_msgs::AttachedCollisionObject > moveit::planning_interface::PlanningSceneInterface::getAttachedObjects | ( | const std::vector< std::string > & | object_ids = std::vector<std::string>() | ) |
Get the attached objects identified by the given object ids list. If no ids are provided, return all the attached objects.
Definition at line 490 of file planning_scene_interface/src/planning_scene_interface.cpp.
| std::vector< std::string > moveit::planning_interface::PlanningSceneInterface::getKnownObjectNames | ( | bool | with_type = false | ) |
Get the names of all known objects in the world. If with_type is set to true, only return objects that have a known type.
Definition at line 464 of file planning_scene_interface/src/planning_scene_interface.cpp.
| std::vector< std::string > moveit::planning_interface::PlanningSceneInterface::getKnownObjectNamesInROI | ( | double | minx, |
| double | miny, | ||
| double | minz, | ||
| double | maxx, | ||
| double | maxy, | ||
| double | maxz, | ||
| bool | with_type, | ||
| std::vector< std::string > & | types | ||
| ) |
Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by getPlanningFrame()).
Definition at line 469 of file planning_scene_interface/src/planning_scene_interface.cpp.
|
inline |
Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by getPlanningFrame()). If with_type is set to true, only return objects that have a known type.
Definition at line 146 of file planning_scene_interface.h.
| std::map< std::string, geometry_msgs::Pose > moveit::planning_interface::PlanningSceneInterface::getObjectPoses | ( | const std::vector< std::string > & | object_ids | ) |
Get the poses from the objects identified by the given object ids list.
Definition at line 478 of file planning_scene_interface/src/planning_scene_interface.cpp.
| std::map< std::string, moveit_msgs::CollisionObject > moveit::planning_interface::PlanningSceneInterface::getObjects | ( | const std::vector< std::string > & | object_ids = std::vector<std::string>() | ) |
Get the objects identified by the given object ids list. If no ids are provided, return all the known objects.
Definition at line 484 of file planning_scene_interface/src/planning_scene_interface.cpp.
| moveit_msgs::PlanningScene moveit::planning_interface::PlanningSceneInterface::getPlanningSceneMsg | ( | uint32_t | components | ) |
Get given components from move_group's PlanningScene.
Definition at line 560 of file planning_scene_interface/src/planning_scene_interface.cpp.
| void moveit::planning_interface::PlanningSceneInterface::removeCollisionObjects | ( | const std::vector< std::string > & | object_ids | ) | const |
Remove collision objects from the world via /planning_scene.
The update runs asynchronously. If you need the objects to be removed directly after you called this function, consider using applyCollisionObjects instead.
Definition at line 576 of file planning_scene_interface/src/planning_scene_interface.cpp.
|
private |
Definition at line 222 of file planning_scene_interface.h.