Public Member Functions
void	addCollisionObjects (const std::vector< moveit_msgs::CollisionObject > &collision_objects, const std::vector< moveit_msgs::ObjectColor > &object_colors) const

bool	applyPlanningScene (const moveit_msgs::PlanningScene &planning_scene)

bool	clear ()

std::map< std::string, moveit_msgs::AttachedCollisionObject >	getAttachedObjects (const std::vector< std::string > &object_ids)

std::vector< std::string >	getKnownObjectNames (bool with_type)

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)

std::map< std::string, geometry_msgs::Pose >	getObjectPoses (const std::vector< std::string > &object_ids)

std::map< std::string, moveit_msgs::CollisionObject >	getObjects (const std::vector< std::string > &object_ids)

moveit_msgs::PlanningScene	getPlanningSceneMsg (uint32_t components)

	PlanningSceneInterfaceImpl (const std::string &ns="", bool wait=true)

void	removeCollisionObjects (const std::vector< std::string > &object_ids) const

Private Member Functions
void	waitForService (ros::ServiceClient &srv)

Private Attributes
ros::ServiceClient	apply_planning_scene_service_

ros::NodeHandle	node_handle_

ros::Publisher	planning_scene_diff_publisher_

ros::ServiceClient	planning_scene_service_

moveit::core::RobotModelConstPtr	robot_model_

Detailed Description

Definition at line 115 of file planning_scene_interface/src/planning_scene_interface.cpp.

Constructor & Destructor Documentation

◆ PlanningSceneInterfaceImpl()

moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::PlanningSceneInterfaceImpl	(	const std::string &	ns = `""`,
		bool	wait = `true`
	)

inlineexplicit

Definition at line 118 of file planning_scene_interface/src/planning_scene_interface.cpp.

Member Function Documentation

◆ addCollisionObjects()

void moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::addCollisionObjects	(	const std::vector< moveit_msgs::CollisionObject > &	collision_objects,
		const std::vector< moveit_msgs::ObjectColor > &	object_colors
	)		const

inline

Definition at line 321 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ applyPlanningScene()

bool moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::applyPlanningScene ( const moveit_msgs::PlanningScene & planning_scene )

inline

Definition at line 308 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ clear()

bool moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::clear ( )

inline

Definition at line 354 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ getAttachedObjects()

std::map<std::string, moveit_msgs::AttachedCollisionObject> moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getAttachedObjects ( const std::vector< std::string > & object_ids )

inline

Definition at line 271 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ getKnownObjectNames()

std::vector<std::string> moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getKnownObjectNames ( bool with_type )

inline

Definition at line 141 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ getKnownObjectNamesInROI()

std::vector<std::string> moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getKnownObjectNamesInROI	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz,
		bool	with_type,
		std::vector< std::string > &	types
	)

inline

Definition at line 163 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ getObjectPoses()

std::map<std::string, geometry_msgs::Pose> moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getObjectPoses ( const std::vector< std::string > & object_ids )

inline

Definition at line 226 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ getObjects()

std::map<std::string, moveit_msgs::CollisionObject> moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getObjects ( const std::vector< std::string > & object_ids )

inline

Definition at line 248 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ getPlanningSceneMsg()

moveit_msgs::PlanningScene moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getPlanningSceneMsg ( uint32_t components )

inline

Definition at line 295 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ removeCollisionObjects()

void moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::removeCollisionObjects ( const std::vector< std::string > & object_ids ) const

inline

Definition at line 340 of file planning_scene_interface/src/planning_scene_interface.cpp.