#include <move_relative.h>

Inheritance diagram for moveit::task_constructor::stages::MoveRelative:

[legend]

Public Member Functions
void	init (const moveit::core::RobotModelConstPtr &robot_model) override

	MoveRelative (const std::string &name="move relative", const solvers::PlannerInterfacePtr &planner=solvers::PlannerInterfacePtr())

void	setDirection (const geometry_msgs::TwistStamped &twist)
	perform twist motion on specified link More...

void	setDirection (const geometry_msgs::Vector3Stamped &direction)
	translate link along given direction More...

void	setDirection (const std::map< std::string, double > &joint_deltas)
	move specified joint variables by given amount More...

void	setGroup (const std::string &group)

void	setIKFrame (const Eigen::Isometry3d &pose, const std::string &link)

void	setIKFrame (const geometry_msgs::PoseStamped &pose)
	setters for IK frame More...

void	setIKFrame (const std::string &link)

template<typename T >
void	setIKFrame (const T &p, const std::string &link)

void	setMaxDistance (double distance)

void	setMinDistance (double distance)
	set minimum / maximum distance to move More...

void	setMinMaxDistance (double min_distance, double max_distance)

void	setPathConstraints (moveit_msgs::Constraints path_constraints)

Public Member Functions inherited from moveit::task_constructor::PropagatingEitherWay
virtual void	computeBackward (const InterfaceState &to)

virtual void	computeForward (const InterfaceState &from)

	PropagatingEitherWay (const std::string &name="propagating either way")

void	restrictDirection (Direction dir)

Public Member Functions inherited from moveit::task_constructor::Stage
SolutionCallbackList::const_iterator	addSolutionCallback (SolutionCallback &&cb)
	add function to be called for every newly found solution or failure More...

virtual bool	explainFailure (std::ostream &) const

const std::list< SolutionBaseConstPtr > &	failures () const

std::set< std::string >	forwardedProperties () const

void	forwardProperties (const InterfaceState &source, InterfaceState &dest)
	forwarding of properties between interface states More...

double	getTotalComputeTime () const

Introspection *	introspection () const

uint32_t	introspectionId () const

const std::string &	markerNS ()
	marker namespace of solution markers More...

const std::string &	name () const

size_t	numFailures () const

const ContainerBase *	parent () const

PropertyMap &	properties ()
	Get the stage's property map. More...

const PropertyMap &	properties () const

void	removeSolutionCallback (SolutionCallbackList::const_iterator which)
	remove function callback More...

void	reportPropertyError (const Property::error &e)
	Analyze source of error and report accordingly. More...

virtual void	reset ()
	reset stage, clearing all solutions, interfaces, inherited properties. More...

void	setCostTerm (const CostTermConstPtr &term)

template<typename T , typename = std::enable_if_t<std::is_constructible<LambdaCostTerm, T>::value>>
void	setCostTerm (T term)

void	setForwardedProperties (const std::set< std::string > &names)

void	setMarkerNS (const std::string &marker_ns)

void	setName (const std::string &name)

void	setProperty (const std::string &name, const boost::any &value)
	Set a previously declared property to a new value. More...

void	setProperty (const std::string &name, const char *value)
	overload: const char* values are stored as std::string More...

void	setTimeout (double timeout)

void	setTrajectoryExecutionInfo (TrajectoryExecutionInfo trajectory_execution_info)
	Set and get info to use when executing the stage's trajectory. More...

void	silentFailure ()
	Call to increase number of failures w/o storing a (failure) trajectory. More...

const ordered< SolutionBaseConstPtr > &	solutions () const

bool	storeFailures () const
	Should we generate failure solutions? Note: Always report a failure! More...

double	timeout () const
	timeout of stage per computation More...

TrajectoryExecutionInfo	trajectoryExecutionInfo () const

virtual	~Stage ()

Protected Member Functions
bool	compute (const InterfaceState &state, planning_scene::PlanningScenePtr &scene, SubTrajectory &trajectory, Interface::Direction dir) override

Protected Member Functions inherited from moveit::task_constructor::PropagatingEitherWay
	PropagatingEitherWay (PropagatingEitherWayPrivate *impl)

template<Interface::Direction dir>
void	send (const InterfaceState &start, InterfaceState &&end, SubTrajectory &&trajectory)

void	sendBackward (InterfaceState &&from, const InterfaceState &to, SubTrajectory &&trajectory)

void	sendForward (const InterfaceState &from, InterfaceState &&to, SubTrajectory &&trajectory)

Protected Member Functions inherited from moveit::task_constructor::ComputeBase
	ComputeBase (ComputeBasePrivate *impl)
	ComputeBase can only be instantiated by derived classes in stage.cpp. More...

Protected Member Functions inherited from moveit::task_constructor::Stage
	Stage (const Stage &)=delete
	Stage cannot be copied. More...

	Stage (StagePrivate *impl)
	Stage can only be instantiated through derived classes. More...

Protected Attributes
solvers::PlannerInterfacePtr	planner_

Protected Attributes inherited from moveit::task_constructor::Stage
StagePrivate *	pimpl_

Additional Inherited Members
Public Types inherited from moveit::task_constructor::PropagatingEitherWay
enum	Direction : uint8_t { AUTO = 0x00, FORWARD = 0x01, BACKWARD = 0x02 }

Public Types inherited from moveit::task_constructor::Stage
using	pointer = std::unique_ptr< Stage >

enum	PropertyInitializerSource : uint8_t { DEFAULT = 0, MANUAL = 1, PARENT = 2, INTERFACE = 4 }

using	SolutionCallback = std::function< void(const SolutionBase &)>

using	SolutionCallbackList = std::list< SolutionCallback >

Detailed Description

Perform a Cartesian motion relative to some link

Definition at line 57 of file move_relative.h.

Constructor & Destructor Documentation

◆ MoveRelative()

moveit::task_constructor::stages::MoveRelative::MoveRelative	(	const std::string &	name = `"move relative"`,
		const solvers::PlannerInterfacePtr &	planner = `solvers::PlannerInterfacePtr()`
	)

Definition at line 146 of file move_relative.cpp.

Member Function Documentation

◆ compute()

bool moveit::task_constructor::stages::MoveRelative::compute	(	const InterfaceState &	state,
		planning_scene::PlanningScenePtr &	scene,
		SubTrajectory &	trajectory,
		Interface::Direction	dir
	)

overrideprotectedvirtual

Reimplemented from moveit::task_constructor::PropagatingEitherWay.

Definition at line 261 of file move_relative.cpp.

◆ init()

void moveit::task_constructor::stages::MoveRelative::init ( const moveit::core::RobotModelConstPtr & robot_model )

overridevirtual

initialize stage once before planning

When called, properties configured for initialization from parent are already defined. Push interfaces are not yet defined!

Reimplemented from moveit::task_constructor::Stage.

Definition at line 173 of file move_relative.cpp.

◆ setDirection() [1/3]

void moveit::task_constructor::stages::MoveRelative::setDirection ( const geometry_msgs::TwistStamped & twist )

inline

perform twist motion on specified link

Definition at line 90 of file move_relative.h.

◆ setDirection() [2/3]

void moveit::task_constructor::stages::MoveRelative::setDirection ( const geometry_msgs::Vector3Stamped & direction )

inline

translate link along given direction

Definition at line 92 of file move_relative.h.

◆ setDirection() [3/3]

void moveit::task_constructor::stages::MoveRelative::setDirection ( const std::map< std::string, double > & joint_deltas )

inline

move specified joint variables by given amount

Definition at line 94 of file move_relative.h.

◆ setGroup()

void moveit::task_constructor::stages::MoveRelative::setGroup ( const std::string & group )

inline

Definition at line 65 of file move_relative.h.

◆ setIKFrame() [1/4]

void moveit::task_constructor::stages::MoveRelative::setIKFrame	(	const Eigen::Isometry3d &	pose,
		const std::string &	link
	)

Definition at line 166 of file move_relative.cpp.

◆ setIKFrame() [2/4]

void moveit::task_constructor::stages::MoveRelative::setIKFrame ( const geometry_msgs::PoseStamped & pose )

inline

setters for IK frame

Definition at line 67 of file move_relative.h.

◆ setIKFrame() [3/4]

void moveit::task_constructor::stages::MoveRelative::setIKFrame ( const std::string & link )

inline

Definition at line 75 of file move_relative.h.

◆ setIKFrame() [4/4]

template<typename T >

void moveit::task_constructor::stages::MoveRelative::setIKFrame	(	const T &	p,
		const std::string &	link
	)

inline

Definition at line 70 of file move_relative.h.

◆ setMaxDistance()

void moveit::task_constructor::stages::MoveRelative::setMaxDistance ( double distance )

inline

Definition at line 79 of file move_relative.h.

◆ setMinDistance()

void moveit::task_constructor::stages::MoveRelative::setMinDistance ( double distance )

inline

set minimum / maximum distance to move

Definition at line 78 of file move_relative.h.

◆ setMinMaxDistance()

void moveit::task_constructor::stages::MoveRelative::setMinMaxDistance	(	double	min_distance,
		double	max_distance
	)

inline

Definition at line 80 of file move_relative.h.

◆ setPathConstraints()

void moveit::task_constructor::stages::MoveRelative::setPathConstraints ( moveit_msgs::Constraints path_constraints )

inline

Definition at line 85 of file move_relative.h.

Member Data Documentation

◆ planner_

solvers::PlannerInterfacePtr moveit::task_constructor::stages::MoveRelative::planner_

protected

Definition at line 102 of file move_relative.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MoveRelative()

Member Function Documentation

◆ compute()

◆ init()

◆ setDirection() [1/3]

◆ setDirection() [2/3]

◆ setDirection() [3/3]

◆ setGroup()

◆ setIKFrame() [1/4]

◆ setIKFrame() [2/4]

◆ setIKFrame() [3/4]

◆ setIKFrame() [4/4]

◆ setMaxDistance()

◆ setMinDistance()

◆ setMinMaxDistance()

◆ setPathConstraints()

Member Data Documentation

◆ planner_