#include <planning_scene_interface.h>
Classes | |
| class | PlanningSceneInterfaceImpl |
Public Member Functions | |
| PlanningSceneInterface () | |
| ~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. | |
| 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()). + If with_type is set to true, only return objects that have a known type. | |
| 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. | |
| std::map< std::string, geometry_msgs::Pose > | getObjectPoses (const std::vector< std::string > &object_ids) |
| void | addCollisionObjects (const std::vector< moveit_msgs::CollisionObject > &collision_objects) const |
| Add collision objects to the world Make sure object.operation is set to object.ADD. | |
| void | removeCollisionObjects (const std::vector< std::string > &object_ids) const |
| Remove collision objects from the world. | |
Private Attributes | |
| PlanningSceneInterfaceImpl * | impl_ |
Definition at line 49 of file planning_scene_interface.h.
Definition at line 192 of file planning_scene_interface.cpp.
Definition at line 197 of file planning_scene_interface.cpp.
| void moveit::planning_interface::PlanningSceneInterface::addCollisionObjects | ( | const std::vector< moveit_msgs::CollisionObject > & | collision_objects | ) | const |
Add collision objects to the world Make sure object.operation is set to object.ADD.
Definition at line 217 of file 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 202 of file 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()). + If with_type is set to true, only return objects that have a known type.
Definition at line 207 of file 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 = false |
||
| ) | [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 69 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 | ) |
Definition at line 212 of file planning_scene_interface.cpp.
| void moveit::planning_interface::PlanningSceneInterface::removeCollisionObjects | ( | const std::vector< std::string > & | object_ids | ) | const |
Remove collision objects from the world.
Definition at line 222 of file planning_scene_interface.cpp.
Definition at line 88 of file planning_scene_interface.h.