Classes | Functions | Variables
moveit::planning_interface Namespace Reference

Simple interface to MoveIt components. More...

Classes

class  MoveGroupInterface
 Client class to conveniently use the ROS interfaces provided by the move_group node. More...
 
class  MoveItCpp
 
class  MoveItCppTest
 
class  MoveItErrorCode
 
class  PlanningComponent
 
class  PlanningSceneInterface
 

Functions

moveit::core::RobotModelConstPtr getSharedRobotModel (const std::string &robot_description)
 
planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor (const moveit::core::RobotModelConstPtr &robot_model, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer)
 getSharedStateMonitor is a simpler version of getSharedStateMonitor(const moveit::core::RobotModelConstPtr &robot_model, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, ros::NodeHandle nh = ros::NodeHandle() ). It calls this function using the default constructed ros::NodeHandle More...
 
planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor (const moveit::core::RobotModelConstPtr &robot_model, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer, const ros::NodeHandle &nh)
 getSharedStateMonitor More...
 
std::shared_ptr< tf2_ros::BuffergetSharedTF ()
 
 MOVEIT_CLASS_FORWARD (MoveGroupInterface)
 
 MOVEIT_CLASS_FORWARD (MoveItCpp)
 
 MOVEIT_CLASS_FORWARD (PlanningComponent)
 
 MOVEIT_CLASS_FORWARD (PlanningSceneInterface)
 
 TEST_F (MoveItCppTest, GetCurrentStateTest)
 
 TEST_F (MoveItCppTest, NameOfPlanningGroupTest)
 
 TEST_F (MoveItCppTest, TestSetGoalFromPoseStamped)
 
 TEST_F (MoveItCppTest, TestSetGoalFromRobotState)
 
 TEST_F (MoveItCppTest, TestSetStartStateFromRobotState)
 
 TEST_F (MoveItCppTest, TestSetStartStateToCurrentState)
 

Variables

const std::string GRASP_PLANNING_SERVICE_NAME = "plan_grasps"
 
const std::string LOGNAME = "move_group_interface"
 
constexpr char PLANNING_PLUGIN_PARAM [] = "planning_plugin"
 

Detailed Description

Simple interface to MoveIt components.

Function Documentation

◆ getSharedRobotModel()

moveit::core::RobotModelConstPtr moveit::planning_interface::getSharedRobotModel ( const std::string robot_description)

Definition at line 116 of file common_objects.cpp.

◆ getSharedStateMonitor() [1/2]

CurrentStateMonitorPtr moveit::planning_interface::getSharedStateMonitor ( const moveit::core::RobotModelConstPtr &  robot_model,
const std::shared_ptr< tf2_ros::Buffer > &  tf_buffer 
)

getSharedStateMonitor is a simpler version of getSharedStateMonitor(const moveit::core::RobotModelConstPtr &robot_model, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, ros::NodeHandle nh = ros::NodeHandle() ). It calls this function using the default constructed ros::NodeHandle

Parameters
robot_model
tf_buffer
Returns

Definition at line 134 of file common_objects.cpp.

◆ getSharedStateMonitor() [2/2]

CurrentStateMonitorPtr moveit::planning_interface::getSharedStateMonitor ( const moveit::core::RobotModelConstPtr &  robot_model,
const std::shared_ptr< tf2_ros::Buffer > &  tf_buffer,
const ros::NodeHandle nh 
)

getSharedStateMonitor

Parameters
robot_model
tf_buffer
nhA ros::NodeHandle to pass node specific configurations, such as callbacks queues.
Returns

Definition at line 140 of file common_objects.cpp.

◆ getSharedTF()

std::shared_ptr< tf2_ros::Buffer > moveit::planning_interface::getSharedTF ( )

Definition at line 99 of file common_objects.cpp.

◆ MOVEIT_CLASS_FORWARD() [1/4]

moveit::planning_interface::MOVEIT_CLASS_FORWARD ( MoveGroupInterface  )

◆ MOVEIT_CLASS_FORWARD() [2/4]

moveit::planning_interface::MOVEIT_CLASS_FORWARD ( MoveItCpp  )

◆ MOVEIT_CLASS_FORWARD() [3/4]

moveit::planning_interface::MOVEIT_CLASS_FORWARD ( PlanningComponent  )

◆ MOVEIT_CLASS_FORWARD() [4/4]

moveit::planning_interface::MOVEIT_CLASS_FORWARD ( PlanningSceneInterface  )

◆ TEST_F() [1/6]

moveit::planning_interface::TEST_F ( MoveItCppTest  ,
GetCurrentStateTest   
)

Definition at line 160 of file moveit_cpp_test.cpp.

◆ TEST_F() [2/6]

moveit::planning_interface::TEST_F ( MoveItCppTest  ,
NameOfPlanningGroupTest   
)

Definition at line 179 of file moveit_cpp_test.cpp.

◆ TEST_F() [3/6]

moveit::planning_interface::TEST_F ( MoveItCppTest  ,
TestSetGoalFromPoseStamped   
)

Definition at line 195 of file moveit_cpp_test.cpp.

◆ TEST_F() [4/6]

moveit::planning_interface::TEST_F ( MoveItCppTest  ,
TestSetGoalFromRobotState   
)

Definition at line 215 of file moveit_cpp_test.cpp.

◆ TEST_F() [5/6]

moveit::planning_interface::TEST_F ( MoveItCppTest  ,
TestSetStartStateFromRobotState   
)

Definition at line 203 of file moveit_cpp_test.cpp.

◆ TEST_F() [6/6]

moveit::planning_interface::TEST_F ( MoveItCppTest  ,
TestSetStartStateToCurrentState   
)

Definition at line 185 of file moveit_cpp_test.cpp.

Variable Documentation

◆ GRASP_PLANNING_SERVICE_NAME

const std::string moveit::planning_interface::GRASP_PLANNING_SERVICE_NAME = "plan_grasps"

Definition at line 146 of file move_group_interface.cpp.

◆ LOGNAME

static const std::string moveit::planning_interface::LOGNAME = "move_group_interface"
constexpr

Definition at line 148 of file move_group_interface.cpp.

◆ PLANNING_PLUGIN_PARAM

constexpr char moveit::planning_interface::PLANNING_PLUGIN_PARAM[] = "planning_plugin"
constexpr

Definition at line 116 of file moveit_cpp.cpp.



planning_interface
Author(s): Ioan Sucan
autogenerated on Sat Dec 12 2020 03:27:08