kinematics_request_response.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2012, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
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00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
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00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 * Author: Sachin Chitta
00036 *********************************************************************/
00037 
00038 #ifndef MOVEIT_KINEMATICS_CONSTRAINT_AWARE_KINEMATICS_REQUEST_RESPONSE_
00039 #define MOVEIT_KINEMATICS_CONSTRAINT_AWARE_KINEMATICS_REQUEST_RESPONSE_
00040 
00041 // System
00042 #include <boost/shared_ptr.hpp>
00043 
00044 // ROS msgs
00045 #include <geometry_msgs/PoseStamped.h>
00046 
00047 // MoveIt!
00048 #include <moveit_msgs/MoveItErrorCodes.h>
00049 #include <moveit/robot_model/robot_model.h>
00050 #include <moveit/robot_state/robot_state.h>
00051 #include <moveit/robot_model/robot_model.h>
00052 #include <moveit/kinematic_constraints/kinematic_constraint.h>
00053 
00054 namespace kinematics_constraint_aware
00055 {
00059 class KinematicsRequest
00060 {
00061 public:
00062   KinematicsRequest()
00063   {
00064   }
00065 
00066   virtual ~KinematicsRequest(){};
00067 
00068   std::vector<geometry_msgs::PoseStamped> pose_stamped_vector_;
00069 
00070   std::vector<std::string> ik_link_names_;
00071 
00072   robot_state::RobotStatePtr robot_state_;
00073 
00074   kinematic_constraints::KinematicConstraintSetPtr constraints_;
00075 
00076   ros::Duration timeout_;
00077 
00078   std::string group_name_;
00079 
00080   bool check_for_collisions_;
00081 
00082   robot_state::StateValidityCallbackFn constraint_callback_;
00083 };
00084 
00088 class KinematicsResponse
00089 {
00090 public:
00091   KinematicsResponse()
00092   {
00093   }
00094 
00095   virtual ~KinematicsResponse(){};
00096 
00097   robot_state::RobotStatePtr solution_;
00098 
00099   std::vector<kinematic_constraints::ConstraintEvaluationResult> constraint_eval_results_;
00100 
00101   collision_detection::CollisionResult collision_result_;
00102 
00103   moveit_msgs::MoveItErrorCodes error_code_;
00104 
00105   bool result_;
00106 };
00107 }
00108 
00109 #endif


moveit_experimental
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley , Jorge Nicho
autogenerated on Wed Jun 19 2019 19:24:03