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

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Detailed Description

Simple interface to making updates to a planning scene 

Definition at line 53 of file planning_scene_interface.py.

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Constructor & Destructor Documentation

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__init__

(

self

)

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.

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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.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__make_existing	(		self,
			name
	)		[private]

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.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_attached_objects	(		self,
			object_ids = []
	)

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.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_known_object_names	(		self,
			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 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.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_object_poses	(		self,
			object_ids
	)

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

Definition at line 225 of file planning_scene_interface.py.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_objects	(		self,
			object_ids = []
	)

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.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.remove_attached_object	(		self,
			link,
			name = None
	)

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.

def moveit_commander.planning_scene_interface.PlanningSceneInterface.remove_world_object	(		self,
			name = None
	)

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

Definition at line 191 of file planning_scene_interface.py.

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Member Data Documentation

moveit_commander::planning_scene_interface.PlanningSceneInterface::_psi [private]

Definition at line 56 of file planning_scene_interface.py.

moveit_commander::planning_scene_interface.PlanningSceneInterface::_pub_aco [private]

Definition at line 56 of file planning_scene_interface.py.

moveit_commander::planning_scene_interface.PlanningSceneInterface::_pub_co [private]

Definition at line 56 of file planning_scene_interface.py.

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

• planning_scene_interface.py