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, bool persistent_connections=false)

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

Private Member Functions
bool	applyPlanningSceneServiceCall (const moveit_msgs::ApplyPlanningScene::Request &request, moveit_msgs::ApplyPlanningScene::Response &response)

void	connectApplyPlanningSceneService ()

void	connectGetPlanningSceneService ()

bool	getPlanningSceneServiceCall (const moveit_msgs::GetPlanningScene::Request &request, moveit_msgs::GetPlanningScene::Response &response)

void	waitForService (ros::ServiceClient &srv)

Private Attributes
ros::ServiceClient	apply_planning_scene_service_

ros::NodeHandle	node_handle_

bool	persistent_connections_

ros::Publisher	planning_scene_diff_publisher_

ros::ServiceClient	planning_scene_service_

moveit::core::RobotModelConstPtr	robot_model_

bool	wait_

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`,
		bool	persistent_connections = `false`
	)

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 322 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.

◆ applyPlanningSceneServiceCall()

bool moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::applyPlanningSceneServiceCall	(	const moveit_msgs::ApplyPlanningScene::Request &	request,
		moveit_msgs::ApplyPlanningScene::Response &	response
	)

inlineprivate

Definition at line 435 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ clear()

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

inline

Definition at line 355 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ connectApplyPlanningSceneService()

void moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::connectApplyPlanningSceneService ( )

inlineprivate

Definition at line 403 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ connectGetPlanningSceneService()

void moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::connectGetPlanningSceneService ( )

inlineprivate

Definition at line 380 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 269 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 135 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 158 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 222 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 245 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 294 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ getPlanningSceneServiceCall()

bool moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getPlanningSceneServiceCall	(	const moveit_msgs::GetPlanningScene::Request &	request,
		moveit_msgs::GetPlanningScene::Response &	response
	)

inlineprivate

Definition at line 426 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 341 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ waitForService()

void moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::waitForService ( ros::ServiceClient & srv )

inlineprivate

Definition at line 369 of file planning_scene_interface/src/planning_scene_interface.cpp.

Member Data Documentation

◆ apply_planning_scene_service_

ros::ServiceClient moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::apply_planning_scene_service_

private

Definition at line 449 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ node_handle_

ros::NodeHandle moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::node_handle_

private

Definition at line 447 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ persistent_connections_

bool moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::persistent_connections_

private

Definition at line 445 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ planning_scene_diff_publisher_

ros::Publisher moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::planning_scene_diff_publisher_

private

Definition at line 450 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ planning_scene_service_

ros::ServiceClient moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::planning_scene_service_

private

Definition at line 448 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ robot_model_

moveit::core::RobotModelConstPtr moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::robot_model_

private

Definition at line 451 of file planning_scene_interface/src/planning_scene_interface.cpp.

◆ wait_

bool moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::wait_

private

Definition at line 444 of file planning_scene_interface/src/planning_scene_interface.cpp.

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

planning_scene_interface/src/planning_scene_interface.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PlanningSceneInterfaceImpl()

Member Function Documentation

◆ addCollisionObjects()

◆ applyPlanningScene()

◆ applyPlanningSceneServiceCall()

◆ clear()

◆ connectApplyPlanningSceneService()

◆ connectGetPlanningSceneService()

◆ getAttachedObjects()

◆ getKnownObjectNames()

◆ getKnownObjectNamesInROI()

◆ getObjectPoses()

◆ getObjects()

◆ getPlanningSceneMsg()

◆ getPlanningSceneServiceCall()

◆ removeCollisionObjects()

◆ waitForService()

Member Data Documentation

◆ apply_planning_scene_service_

◆ node_handle_

◆ persistent_connections_

◆ planning_scene_diff_publisher_

◆ planning_scene_service_

◆ robot_model_

◆ wait_