move_action_capability.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_
00038 #define MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_
00039 
00040 #include <moveit/move_group/move_group_capability.h>
00041 #include <actionlib/server/simple_action_server.h>
00042 #include <moveit_msgs/MoveGroupAction.h>
00043 
00044 namespace move_group
00045 {
00046 class MoveGroupMoveAction : public MoveGroupCapability
00047 {
00048 public:
00049   MoveGroupMoveAction();
00050 
00051   virtual void initialize();
00052 
00053 private:
00054   void executeMoveCallback(const moveit_msgs::MoveGroupGoalConstPtr& goal);
00055   void executeMoveCallback_PlanAndExecute(const moveit_msgs::MoveGroupGoalConstPtr& goal,
00056                                           moveit_msgs::MoveGroupResult& action_res);
00057   void executeMoveCallback_PlanOnly(const moveit_msgs::MoveGroupGoalConstPtr& goal,
00058                                     moveit_msgs::MoveGroupResult& action_res);
00059   void startMoveExecutionCallback();
00060   void startMoveLookCallback();
00061   void preemptMoveCallback();
00062   void setMoveState(MoveGroupState state);
00063   bool planUsingPlanningPipeline(const planning_interface::MotionPlanRequest& req,
00064                                  plan_execution::ExecutableMotionPlan& plan);
00065 
00066   boost::scoped_ptr<actionlib::SimpleActionServer<moveit_msgs::MoveGroupAction> > move_action_server_;
00067   moveit_msgs::MoveGroupFeedback move_feedback_;
00068 
00069   MoveGroupState move_state_;
00070 };
00071 }
00072 
00073 #endif


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Apr 23 2018 10:25:35