Public Member Functions
void	addCollisionObjects (const std::vector< moveit_msgs::CollisionObject > &collision_objects) const
bool	applyPlanningScene (const moveit_msgs::PlanningScene &planning_scene)
std::map< std::string, moveit_msgs::AttachedCollisionObject >	getAttachedObjects (const std::vector< std::string > &object_ids)
std::vector< std::string >	getKnownObjectNames (bool with_type)
std::vector< std::string >	getKnownObjectNamesInROI (double minx, double miny, double minz, double maxx, double maxy, double maxz, bool with_type, std::vector< std::string > &types)
std::map< std::string, geometry_msgs::Pose >	getObjectPoses (const std::vector< std::string > &object_ids)
std::map< std::string, moveit_msgs::CollisionObject >	getObjects (const std::vector< std::string > &object_ids)
	PlanningSceneInterfaceImpl ()
void	removeCollisionObjects (const std::vector< std::string > &object_ids) const
Private Attributes
ros::ServiceClient	apply_planning_scene_service_
ros::NodeHandle	node_handle_
ros::Publisher	planning_scene_diff_publisher_
ros::ServiceClient	planning_scene_service_
robot_model::RobotModelConstPtr	robot_model_

Detailed Description

Definition at line 48 of file planning_scene_interface.cpp.

Constructor & Destructor Documentation

moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::PlanningSceneInterfaceImpl ( ) [inline]

Definition at line 51 of file planning_scene_interface.cpp.

Member Function Documentation

void moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::addCollisionObjects ( const std::vector< moveit_msgs::CollisionObject > & collision_objects ) const [inline]

Definition at line 230 of file planning_scene_interface.cpp.

bool moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::applyPlanningScene ( const moveit_msgs::PlanningScene & planning_scene ) [inline]

Definition at line 217 of file planning_scene_interface.cpp.

std::map<std::string, moveit_msgs::AttachedCollisionObject> moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getAttachedObjects ( const std::vector< std::string > & object_ids ) [inline]

Definition at line 191 of file planning_scene_interface.cpp.

std::vector<std::string> moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getKnownObjectNames ( bool with_type ) [inline]

Definition at line 60 of file planning_scene_interface.cpp.

std::vector<std::string> moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getKnownObjectNamesInROI	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz,
		bool	with_type,
		std::vector< std::string > &	types
	)		`[inline]`

Definition at line 82 of file planning_scene_interface.cpp.

std::map<std::string, geometry_msgs::Pose> moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getObjectPoses ( const std::vector< std::string > & object_ids ) [inline]

Definition at line 135 of file planning_scene_interface.cpp.

std::map<std::string, moveit_msgs::CollisionObject> moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::getObjects ( const std::vector< std::string > & object_ids ) [inline]

Definition at line 166 of file planning_scene_interface.cpp.

void moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterfaceImpl::removeCollisionObjects ( const std::vector< std::string > & object_ids ) const [inline]

Definition at line 238 of file planning_scene_interface.cpp.