A MoveGroup action goal builder. More...

#include <builder.h>

Public Member Functions
void	AddPathOrientationConstraint (const moveit_msgs::OrientationConstraint &oc)
	Adds an orientation constraint to this goal.
void	AddPoseGoal (const std::string &ee_link, const geometry_msgs::Pose &goal)
	Sets a single pose goal for a single end-effector.
void	Build (moveit_msgs::MoveGroupGoal *goal) const
	Builds the goal.
	Builder (const std::string &planning_frame, const std::string &group_name)
	Constructor.
void	ClearPathConstraints ()
	Clears all path constraints for this goal.
void	ClearPoseGoals ()
	Clears any pose goals that were set.
void	GetJointGoal (std::map< std::string, double > *joint_goal) const
	Gets the joint goal that was last added to the builder.
void	GetPathConstraints (moveit_msgs::Constraints *constraints) const
	Returns the path constraints on the goal.
void	GetPoseGoals (std::map< std::string, geometry_msgs::Pose > *pose_goals) const
	Gets the pose goals that were set.
void	SetJointGoal (const std::map< std::string, double > &joints)
	Sets a joint goal.
void	SetPathConstraints (const moveit_msgs::Constraints &constraints)
	Sets the path constraints on the goal.
void	SetPoseGoals (const std::map< std::string, geometry_msgs::Pose > &pose_goals)
	Sets a pose goal, one for each end-effector.
void	SetStartState (const robot_state::RobotState &start_state)
	Sets the robot's start state for planning.
void	SetStartStateToCurrentState ()
	Sets the robot's start state to be its current state.
robot_state::RobotStatePtr	StartState () const
	Returns the robot's start state.
Public Attributes
bool	can_look
	Whether the robot should be allowed to look around.
bool	can_replan
std::string	group_name
	Group name, e.g, "arms", "right_arm", etc.
double	joint_tolerance
double	max_acceleration_scaling_factor
	Scaling factor in (0, 1] for the maximum joint acceleration.
double	max_velocity_scaling_factor
	Scaling factor in (0, 1] for the maximum joint speed.
unsigned int	num_planning_attempts
	The number of times to compute a plan. The shortest plan will be used.
double	orientation_tolerance
bool	plan_only
	Whether to compute a plan without executing it.
std::string	planner_id
	The name of the planner to use.
std::string	planning_frame
	MoveIt planning frame (e.g., "odom_combined" or "base_link").
double	planning_time
	The maximum time to spend finding a plan, in seconds.
double	position_tolerance
	Tolerance radius for the position (applies only to pose goals), in meters.
int	replan_attempts
	Maximum number of times to replan.
double	replan_delay
	Time to wait in between replanning attempts, in seconds..
moveit_msgs::WorkspaceParameters	workspace_parameters
	The workspace boundaries of the robot.
Private Attributes
ActiveTargetType	active_target_
std::map< std::string, double >	joint_goal_
moveit_msgs::Constraints	path_constraints_
std::map< std::string, geometry_msgs::Pose >	pose_goals_
robot_state::RobotStatePtr	start_state_

Detailed Description

A MoveGroup action goal builder.

This is used to invoke the MoveGroup action through a custom action client rather than through MoveIt's MoveGroup class. The main reason to do so is if you want to poll the progress of the action.

To use the builder, set either a pose goal or a joint goal, then set all of the planning properties, which are exposed as public variables.

Example:

 moveit_goal_builder::Builder builder("base_link", "arms");
 builder.AddPoseGoal("r_wrist_roll_link", pose);
 builder.AddPathOrientationConstraint(orientation_constraint);
 builder.planning_time = 10.0;
 builder.num_planning_attempts = 3;
 builder.can_replan = true;
 builder.replan_attempts = 3;

 moveit_msgs::MoveGroupGoal goal;
 builder.Build(&goal);

Definition at line 41 of file builder.h.

Constructor & Destructor Documentation

moveit_goal_builder::Builder::Builder	(	const std::string &	planning_frame,
		const std::string &	group_name
	)

Constructor.

Parameters:

[in]	planning_frame	The planning frame of the robot, according to the robot's MoveIt configuration (e.g., "base_link" or "odom_combined".
[in]	group_name	The name of the group to build the goal for (e.g., "arm")

Definition at line 22 of file builder.cpp.

Member Function Documentation

void moveit_goal_builder::Builder::AddPathOrientationConstraint ( const moveit_msgs::OrientationConstraint & oc )

Adds an orientation constraint to this goal.

Parameters:

[in] oc The orientation constraint to add.

Definition at line 165 of file builder.cpp.

void moveit_goal_builder::Builder::AddPoseGoal	(	const std::string &	ee_link,
		const geometry_msgs::Pose &	goal
	)

Sets a single pose goal for a single end-effector.

This can be called multiple times with different end-effectors. Calling this multiple times with the same end-effector will replace the goal for that end-effector.

Parameters:

[in]	ee_link	The name of the end-effector link, e.g., "r_wrist_roll_link"
[in]	goal	The pose goal for that end-effector, in the planning frame.

See also:: SetPoseGoals

Definition at line 144 of file builder.cpp.

void moveit_goal_builder::Builder::Build ( moveit_msgs::MoveGroupGoal * goal ) const

Builds the goal.

Parameters:

[out] goal The completed goal.

Definition at line 45 of file builder.cpp.

void moveit_goal_builder::Builder::ClearPathConstraints ( )

Clears all path constraints for this goal.

Definition at line 158 of file builder.cpp.

void moveit_goal_builder::Builder::ClearPoseGoals ( )

Clears any pose goals that were set.

Definition at line 142 of file builder.cpp.

void moveit_goal_builder::Builder::GetJointGoal ( std::map< std::string, double > * joint_goal ) const

Gets the joint goal that was last added to the builder.

Parameters:

[out] joint_goal The most recently added joint goal.

Definition at line 122 of file builder.cpp.

void moveit_goal_builder::Builder::GetPathConstraints ( moveit_msgs::Constraints * constraints ) const

Returns the path constraints on the goal.

Parameters:

[out] constraints The constraints on the path.

Definition at line 150 of file builder.cpp.

void moveit_goal_builder::Builder::GetPoseGoals ( std::map< std::string, geometry_msgs::Pose > * pose_goals ) const

Gets the pose goals that were set.

Parameters:

[out] pose_goals A mapping from end-effector name (the end-effector link name, e.g., "r_wrist_roll_link") to the pose goal for that end-effector. The pose is specified in the planning frame.

See also:: AddPoseGoal, SetPoseGoals

Definition at line 131 of file builder.cpp.

void moveit_goal_builder::Builder::SetJointGoal ( const std::map< std::string, double > & joints )

Sets a joint goal.

Does not check that the joint names are valid or that the values are within limits. Setting a joint goal overrides any pose goals that were previously set.

Parameters:

[in] joints A mapping between joint names and joint angle/position values.

Definition at line 126 of file builder.cpp.

void moveit_goal_builder::Builder::SetPathConstraints ( const moveit_msgs::Constraints & constraints )

Sets the path constraints on the goal.

Parameters:

[out] constraints The constraints on the path.

Definition at line 154 of file builder.cpp.

void moveit_goal_builder::Builder::SetPoseGoals ( const std::map< std::string, geometry_msgs::Pose > & pose_goals )

Sets a pose goal, one for each end-effector.

Specify the end-effector link and the pose it should reach. The pose should be specified in the planning frame. Setting a pose goal overrides any previously set orientation goals.

Parameters:

[in] pose_goals A mapping from end-effector name (the end-effector link name, e.g., "r_wrist_roll_link") to the pose goal for that end-effector. The pose must be specified in the planning frame.