get_planning_scene_service_capability.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "get_planning_scene_service_capability.h"
00038 #include <moveit/move_group/capability_names.h>
00039 
00040 move_group::MoveGroupGetPlanningSceneService::MoveGroupGetPlanningSceneService()
00041   : MoveGroupCapability("GetPlanningSceneService")
00042 {
00043 }
00044 
00045 void move_group::MoveGroupGetPlanningSceneService::initialize()
00046 {
00047   get_scene_service_ = root_node_handle_.advertiseService(
00048       GET_PLANNING_SCENE_SERVICE_NAME, &MoveGroupGetPlanningSceneService::getPlanningSceneService, this);
00049 }
00050 
00051 bool move_group::MoveGroupGetPlanningSceneService::getPlanningSceneService(moveit_msgs::GetPlanningScene::Request& req,
00052                                                                            moveit_msgs::GetPlanningScene::Response& res)
00053 {
00054   if (req.components.components & moveit_msgs::PlanningSceneComponents::TRANSFORMS)
00055     context_->planning_scene_monitor_->updateFrameTransforms();
00056   planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_);
00057   ps->getPlanningSceneMsg(res.scene, req.components);
00058   return true;
00059 }
00060 
00061 #include <class_loader/class_loader.h>
00062 CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupGetPlanningSceneService, move_group::MoveGroupCapability)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Dec 26 2017 03:34:23