Public Member Functions | Private Member Functions | Private Attributes
moveit_commander.planning_scene_interface.PlanningSceneInterface Class Reference

List of all members.

Public Member Functions

def __init__
def add_box
def add_mesh
def add_plane
def add_sphere
def attach_box
def attach_mesh
def get_attached_objects
def get_known_object_names
def get_known_object_names_in_roi
def get_object_poses
def get_objects
def remove_attached_object
def remove_world_object

Private Member Functions

def __make_box
def __make_existing
def __make_mesh
def __make_sphere

Private Attributes

 _psi
 _pub_aco
 _pub_co

Detailed Description

Simple interface to making updates to a planning scene 

Definition at line 53 of file planning_scene_interface.py.


Constructor & Destructor Documentation

Create a planning scene interface; it uses both C++ wrapped methods and scene manipulation topics. 

Definition at line 56 of file planning_scene_interface.py.


Member Function Documentation

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__make_box (   self,
  name,
  pose,
  size 
) [private]

Definition at line 81 of file planning_scene_interface.py.

Create an empty Collision Object, used when the object already exists 

Definition at line 133 of file planning_scene_interface.py.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__make_mesh (   self,
  name,
  pose,
  filename,
  scale = (1, 1 
) [private]

Definition at line 93 of file planning_scene_interface.py.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__make_sphere (   self,
  name,
  pose,
  radius 
) [private]

Definition at line 63 of file planning_scene_interface.py.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_box (   self,
  name,
  pose,
  size = (1, 1 
)
Add a box to the planning scene 

Definition at line 147 of file planning_scene_interface.py.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_mesh (   self,
  name,
  pose,
  filename,
  size = (1, 1 
)
Add a mesh to the planning scene

Definition at line 141 of file planning_scene_interface.py.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_plane (   self,
  name,
  pose,
  normal = (0, 0,
  offset = 0 
)
Add a plane to the planning scene 

Definition at line 153 of file planning_scene_interface.py.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_sphere (   self,
  name,
  pose,
  radius = 1 
)
Add a sphere to the planning scene 

Definition at line 75 of file planning_scene_interface.py.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.attach_box (   self,
  link,
  name,
  pose = None,
  size = (1, 1,
  touch_links = [] 
)

Definition at line 178 of file planning_scene_interface.py.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.attach_mesh (   self,
  link,
  name,
  pose = None,
  filename = '',
  size = (1, 1,
  touch_links = [] 
)

Definition at line 166 of file planning_scene_interface.py.

Get the attached objects identified by the given object ids list. If no ids are provided, return all the attached objects.

Definition at line 249 of file planning_scene_interface.py.

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 212 of file planning_scene_interface.py.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_known_object_names_in_roi (   self,
  minx,
  miny,
  minz,
  maxx,
  maxy,
  maxz,
  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
get_planning_frame()). If with_type is set to true, only return objects that have a known type.

Definition at line 218 of file planning_scene_interface.py.

Get the poses from the objects identified by the given object ids list.

Definition at line 225 of file planning_scene_interface.py.

Get the objects identified by the given object ids list. If no ids are provided, return all the known objects.

Definition at line 237 of file planning_scene_interface.py.

Remove an attached object from planning scene, or all objects attached to this link if no name is provided             

Definition at line 201 of file planning_scene_interface.py.

Remove an object from planning scene, or all if no name is provided         

Definition at line 191 of file planning_scene_interface.py.


Member Data Documentation

Definition at line 56 of file planning_scene_interface.py.

Definition at line 56 of file planning_scene_interface.py.

Definition at line 56 of file planning_scene_interface.py.


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


moveit_commander
Author(s): Ioan Sucan
autogenerated on Wed Jan 17 2018 03:32:53