Public Member Functions | Private Member Functions | Private Attributes
moveit::planning_interface::MoveGroup::MoveGroupImpl Class Reference

List of all members.

Public Member Functions

void allowLooking (bool flag)
void allowReplanning (bool flag)
bool attachObject (const std::string &object, const std::string &link, const std::vector< std::string > &touch_links)
void clearPathConstraints ()
void clearPoseTarget (const std::string &end_effector_link)
void clearPoseTargets ()
double computeCartesianPath (const std::vector< geometry_msgs::Pose > &waypoints, double step, double jump_threshold, moveit_msgs::RobotTrajectory &msg, const moveit_msgs::Constraints &path_constraints, bool avoid_collisions, moveit_msgs::MoveItErrorCodes &error_code)
void constructGoal (moveit_msgs::MoveGroupGoal &goal_out)
void constructGoal (moveit_msgs::PickupGoal &goal_out, const std::string &object)
void constructGoal (moveit_msgs::PlaceGoal &goal_out, const std::string &object)
bool detachObject (const std::string &name)
MoveItErrorCode execute (const Plan &plan, bool wait)
bool getCurrentState (robot_state::RobotStatePtr &current_state, double wait_seconds=1.0)
std::string getDefaultPlannerId (const std::string &group) const
const std::string & getEndEffector () const
const std::string & getEndEffectorLink () const
double getGoalJointTolerance () const
double getGoalOrientationTolerance () const
double getGoalPositionTolerance () const
bool getInterfaceDescription (moveit_msgs::PlannerInterfaceDescription &desc)
const
robot_model::JointModelGroup * 
getJointModelGroup () const
robot_state::RobotState & getJointStateTarget ()
std::vector< std::string > getKnownConstraints () const
const OptionsgetOptions () const
moveit_msgs::Constraints getPathConstraints () const
double getPlanningTime () const
const std::string & getPoseReferenceFrame () const
const geometry_msgs::PoseStamped & getPoseTarget (const std::string &end_effector_link) const
const std::vector
< geometry_msgs::PoseStamped > & 
getPoseTargets (const std::string &end_effector_link) const
double getReplanningDelay () const
const
robot_model::RobotModelConstPtr & 
getRobotModel () const
robot_state::RobotStatePtr getStartState ()
ActiveTargetType getTargetType () const
const boost::shared_ptr
< tf::Transformer > & 
getTF () const
bool hasPoseTarget (const std::string &end_effector_link) const
void initializeConstraintsStorage (const std::string &host, unsigned int port)
MoveItErrorCode move (bool wait)
 MoveGroupImpl (const Options &opt, const boost::shared_ptr< tf::Transformer > &tf, const ros::WallDuration &wait_for_servers)
MoveItErrorCode pick (const std::string &object, const std::vector< moveit_msgs::Grasp > &grasps)
MoveItErrorCode place (const std::string &object, const std::vector< geometry_msgs::PoseStamped > &poses)
 Place an object at one of the specified possible locations.
MoveItErrorCode place (const std::string &object, const std::vector< moveit_msgs::PlaceLocation > &locations)
MoveItErrorCode plan (Plan &plan)
MoveItErrorCode planGraspsAndPick (const std::string &object)
MoveItErrorCode planGraspsAndPick (const moveit_msgs::CollisionObject &object)
void setEndEffectorLink (const std::string &end_effector)
void setGoalJointTolerance (double tolerance)
void setGoalOrientationTolerance (double tolerance)
void setGoalPositionTolerance (double tolerance)
bool setJointValueTarget (const geometry_msgs::Pose &eef_pose, const std::string &end_effector_link, const std::string &frame, bool approx)
void setMaxAccelerationScalingFactor (double max_acceleration_scaling_factor)
void setMaxVelocityScalingFactor (double max_velocity_scaling_factor)
void setNumPlanningAttempts (unsigned int num_planning_attempts)
void setPathConstraints (const moveit_msgs::Constraints &constraint)
bool setPathConstraints (const std::string &constraint)
void setPlannerId (const std::string &planner_id)
void setPlanningTime (double seconds)
void setPoseReferenceFrame (const std::string &pose_reference_frame)
bool setPoseTargets (const std::vector< geometry_msgs::PoseStamped > &poses, const std::string &end_effector_link)
void setReplanningDelay (double delay)
void setStartState (const robot_state::RobotState &start_state)
void setStartStateToCurrentState ()
void setSupportSurfaceName (const std::string &support_surface)
void setTargetType (ActiveTargetType type)
void setWorkspace (double minx, double miny, double minz, double maxx, double maxy, double maxz)
bool startStateMonitor (double wait)
void stop ()
template<typename T >
void waitForAction (const T &action, const std::string &name, const ros::WallTime &timeout, double allotted_time)
void waitForExecuteActionOrService (ros::WallTime timeout)
 ~MoveGroupImpl ()

Private Member Functions

void initializeConstraintsStorageThread (const std::string &host, unsigned int port)

Private Attributes

ActiveTargetType active_target_
ros::Publisher attached_object_publisher_
bool can_look_
bool can_replan_
ros::ServiceClient cartesian_path_service_
robot_state::RobotStatePtr considered_start_state_
boost::scoped_ptr< boost::thread > constraints_init_thread_
boost::scoped_ptr
< moveit_warehouse::ConstraintsStorage
constraints_storage_
planning_scene_monitor::CurrentStateMonitorPtr current_state_monitor_
std::string end_effector_link_
boost::scoped_ptr
< actionlib::SimpleActionClient
< moveit_msgs::ExecuteTrajectoryAction > > 
execute_action_client_
ros::ServiceClient execute_service_
double goal_joint_tolerance_
double goal_orientation_tolerance_
double goal_position_tolerance_
bool initializing_constraints_
const
robot_model::JointModelGroup * 
joint_model_group_
robot_state::RobotStatePtr joint_state_target_
double max_acceleration_scaling_factor_
double max_velocity_scaling_factor_
boost::scoped_ptr
< actionlib::SimpleActionClient
< moveit_msgs::MoveGroupAction > > 
move_action_client_
ros::NodeHandle node_handle_
unsigned int num_planning_attempts_
Options opt_
boost::scoped_ptr
< moveit_msgs::Constraints > 
path_constraints_
boost::scoped_ptr
< actionlib::SimpleActionClient
< moveit_msgs::PickupAction > > 
pick_action_client_
boost::scoped_ptr
< actionlib::SimpleActionClient
< moveit_msgs::PlaceAction > > 
place_action_client_
ros::ServiceClient plan_grasps_service_
std::string planner_id_
double planning_time_
std::string pose_reference_frame_
std::map< std::string,
std::vector
< geometry_msgs::PoseStamped > > 
pose_targets_
ros::ServiceClient query_service_
double replan_delay_
robot_model::RobotModelConstPtr robot_model_
std::string support_surface_
boost::shared_ptr
< tf::Transformer
tf_
ros::Publisher trajectory_event_publisher_
moveit_msgs::WorkspaceParameters workspace_parameters_

Detailed Description

Definition at line 90 of file move_group.cpp.


Constructor & Destructor Documentation

moveit::planning_interface::MoveGroup::MoveGroupImpl::MoveGroupImpl ( const Options opt,
const boost::shared_ptr< tf::Transformer > &  tf,
const ros::WallDuration wait_for_servers 
) [inline]

Definition at line 93 of file move_group.cpp.

Definition at line 298 of file move_group.cpp.


Member Function Documentation

Definition at line 1028 of file move_group.cpp.

Definition at line 1034 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::attachObject ( const std::string &  object,
const std::string &  link,
const std::vector< std::string > &  touch_links 
) [inline]

Definition at line 937 of file move_group.cpp.

Definition at line 1168 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::clearPoseTarget ( const std::string &  end_effector_link) [inline]

Definition at line 453 of file move_group.cpp.

Definition at line 458 of file move_group.cpp.

double moveit::planning_interface::MoveGroup::MoveGroupImpl::computeCartesianPath ( const std::vector< geometry_msgs::Pose > &  waypoints,
double  step,
double  jump_threshold,
moveit_msgs::RobotTrajectory &  msg,
const moveit_msgs::Constraints &  path_constraints,
bool  avoid_collisions,
moveit_msgs::MoveItErrorCodes &  error_code 
) [inline]

Definition at line 887 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::constructGoal ( moveit_msgs::MoveGroupGoal &  goal_out) [inline]

Definition at line 1051 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::constructGoal ( moveit_msgs::PickupGoal &  goal_out,
const std::string &  object 
) [inline]

Definition at line 1111 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::constructGoal ( moveit_msgs::PlaceGoal &  goal_out,
const std::string &  object 
) [inline]

Definition at line 1129 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::detachObject ( const std::string &  name) [inline]

Definition at line 963 of file move_group.cpp.

Definition at line 837 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::getCurrentState ( robot_state::RobotStatePtr &  current_state,
double  wait_seconds = 1.0 
) [inline]

Definition at line 579 of file move_group.cpp.

std::string moveit::planning_interface::MoveGroup::MoveGroupImpl::getDefaultPlannerId ( const std::string &  group) const [inline]

Definition at line 337 of file move_group.cpp.

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bool moveit::planning_interface::MoveGroup::MoveGroupImpl::getInterfaceDescription ( moveit_msgs::PlannerInterfaceDescription &  desc) [inline]

Definition at line 324 of file move_group.cpp.

const robot_model::JointModelGroup* moveit::planning_interface::MoveGroup::MoveGroupImpl::getJointModelGroup ( ) const [inline]

Definition at line 319 of file move_group.cpp.

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const geometry_msgs::PoseStamped& moveit::planning_interface::MoveGroup::MoveGroupImpl::getPoseTarget ( const std::string &  end_effector_link) const [inline]

Definition at line 507 of file move_group.cpp.

const std::vector<geometry_msgs::PoseStamped>& moveit::planning_interface::MoveGroup::MoveGroupImpl::getPoseTargets ( const std::string &  end_effector_link) const [inline]

Definition at line 523 of file move_group.cpp.

Definition at line 1046 of file move_group.cpp.

const robot_model::RobotModelConstPtr& moveit::planning_interface::MoveGroup::MoveGroupImpl::getRobotModel ( ) const [inline]

Definition at line 314 of file move_group.cpp.

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bool moveit::planning_interface::MoveGroup::MoveGroupImpl::hasPoseTarget ( const std::string &  end_effector_link) const [inline]

Definition at line 501 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::initializeConstraintsStorage ( const std::string &  host,
unsigned int  port 
) [inline]

Definition at line 1196 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::initializeConstraintsStorageThread ( const std::string &  host,
unsigned int  port 
) [inline, private]

Definition at line 1218 of file move_group.cpp.

Definition at line 794 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::pick ( const std::string &  object,
const std::vector< moveit_msgs::Grasp > &  grasps 
) [inline]

Definition at line 667 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::place ( const std::string &  object,
const std::vector< geometry_msgs::PoseStamped > &  poses 
) [inline]

Place an object at one of the specified possible locations.

Definition at line 602 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::place ( const std::string &  object,
const std::vector< moveit_msgs::PlaceLocation > &  locations 
) [inline]

Definition at line 627 of file move_group.cpp.

Definition at line 755 of file move_group.cpp.

Definition at line 706 of file move_group.cpp.

MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::planGraspsAndPick ( const moveit_msgs::CollisionObject &  object) [inline]

Definition at line 726 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setEndEffectorLink ( const std::string &  end_effector) [inline]

Definition at line 448 of file move_group.cpp.

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bool moveit::planning_interface::MoveGroup::MoveGroupImpl::setJointValueTarget ( const geometry_msgs::Pose eef_pose,
const std::string &  end_effector_link,
const std::string &  frame,
bool  approx 
) [inline]

Definition at line 397 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setMaxAccelerationScalingFactor ( double  max_acceleration_scaling_factor) [inline]

Definition at line 365 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setMaxVelocityScalingFactor ( double  max_velocity_scaling_factor) [inline]

Definition at line 360 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setNumPlanningAttempts ( unsigned int  num_planning_attempts) [inline]

Definition at line 355 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPathConstraints ( const moveit_msgs::Constraints &  constraint) [inline]

Definition at line 1146 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::setPathConstraints ( const std::string &  constraint) [inline]

Definition at line 1151 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPlannerId ( const std::string &  planner_id) [inline]

Definition at line 350 of file move_group.cpp.

Definition at line 1017 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPoseReferenceFrame ( const std::string &  pose_reference_frame) [inline]

Definition at line 538 of file move_group.cpp.

bool moveit::planning_interface::MoveGroup::MoveGroupImpl::setPoseTargets ( const std::vector< geometry_msgs::PoseStamped > &  poses,
const std::string &  end_effector_link 
) [inline]

Definition at line 482 of file move_group.cpp.

Definition at line 1040 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setStartState ( const robot_state::RobotState &  start_state) [inline]

Definition at line 375 of file move_group.cpp.

Definition at line 380 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setSupportSurfaceName ( const std::string &  support_surface) [inline]

Definition at line 543 of file move_group.cpp.

Definition at line 553 of file move_group.cpp.

void moveit::planning_interface::MoveGroup::MoveGroupImpl::setWorkspace ( double  minx,
double  miny,
double  minz,
double  maxx,
double  maxy,
double  maxz 
) [inline]

Definition at line 1205 of file move_group.cpp.

Definition at line 563 of file move_group.cpp.

Definition at line 927 of file move_group.cpp.

template<typename T >
void moveit::planning_interface::MoveGroup::MoveGroupImpl::waitForAction ( const T action,
const std::string &  name,
const ros::WallTime timeout,
double  allotted_time 
) [inline]

Definition at line 177 of file move_group.cpp.

Definition at line 232 of file move_group.cpp.


Member Data Documentation

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planning_scene_monitor::CurrentStateMonitorPtr moveit::planning_interface::MoveGroup::MoveGroupImpl::current_state_monitor_ [private]

Definition at line 1236 of file move_group.cpp.

Definition at line 1268 of file move_group.cpp.

boost::scoped_ptr<actionlib::SimpleActionClient<moveit_msgs::ExecuteTrajectoryAction> > moveit::planning_interface::MoveGroup::MoveGroupImpl::execute_action_client_ [private]

Definition at line 1238 of file move_group.cpp.

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const robot_model::JointModelGroup* moveit::planning_interface::MoveGroup::MoveGroupImpl::joint_model_group_ [private]

Definition at line 1259 of file move_group.cpp.

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boost::scoped_ptr<moveit_msgs::Constraints> moveit::planning_interface::MoveGroup::MoveGroupImpl::path_constraints_ [private]

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std::map<std::string, std::vector<geometry_msgs::PoseStamped> > moveit::planning_interface::MoveGroup::MoveGroupImpl::pose_targets_ [private]

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robot_model::RobotModelConstPtr moveit::planning_interface::MoveGroup::MoveGroupImpl::robot_model_ [private]

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


planning_interface
Author(s): Ioan Sucan
autogenerated on Mon Apr 23 2018 10:25:54