Classes | Public Member Functions | Private Attributes
moveit::planning_interface::PlanningSceneInterface Class Reference

#include <planning_scene_interface.h>

List of all members.

Classes

class  PlanningSceneInterfaceImpl

Public Member Functions

 PlanningSceneInterface ()
 ~PlanningSceneInterface ()
Manage the world
std::vector< std::string > getKnownObjectNames (bool with_type=false)
 Get the names of all known objects in the world. If with_type is set to true, only return objects that have a known 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)
 Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by getPlanningFrame()). + If with_type is set to true, only return objects that have a known type.
std::vector< std::string > getKnownObjectNamesInROI (double minx, double miny, double minz, double maxx, double maxy, double maxz, bool with_type=false)
 Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by getPlanningFrame()). If with_type is set to true, only return objects that have a known type.
std::map< std::string,
geometry_msgs::Pose
getObjectPoses (const std::vector< std::string > &object_ids)
 Get the poses from the objects identified by the given object ids list.
std::map< std::string,
moveit_msgs::CollisionObject > 
getObjects (const std::vector< std::string > &object_ids=std::vector< std::string >())
 Get the objects identified by the given object ids list. If no ids are provided, return all the known objects.
std::map< std::string,
moveit_msgs::AttachedCollisionObject > 
getAttachedObjects (const std::vector< std::string > &object_ids=std::vector< std::string >())
 Get the attached objects identified by the given object ids list. If no ids are provided, return all the attached objects.
bool applyCollisionObject (const moveit_msgs::CollisionObject &collision_objects)
 Apply collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.
bool applyCollisionObjects (const std::vector< moveit_msgs::CollisionObject > &collision_objects)
 Apply collision objects to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.
bool applyAttachedCollisionObject (const moveit_msgs::AttachedCollisionObject &attached_collision_objects)
 Apply attached collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.
bool applyAttachedCollisionObjects (const std::vector< moveit_msgs::AttachedCollisionObject > &attached_collision_objects)
 Apply attached collision objects to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.
bool applyPlanningScene (const moveit_msgs::PlanningScene &ps)
 Update the planning_scene of the move_group node with the given ps synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.
void addCollisionObjects (const std::vector< moveit_msgs::CollisionObject > &collision_objects) const
 Add collision objects to the world via /planning_scene. Make sure object.operation is set to object.ADD.
void removeCollisionObjects (const std::vector< std::string > &object_ids) const
 Remove collision objects from the world via /planning_scene.

Private Attributes

PlanningSceneInterfaceImplimpl_

Detailed Description

Definition at line 52 of file planning_scene_interface.h.


Constructor & Destructor Documentation

Definition at line 260 of file planning_scene_interface.cpp.

Definition at line 265 of file planning_scene_interface.cpp.


Member Function Documentation

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

Add collision objects to the world via /planning_scene. Make sure object.operation is set to object.ADD.

The update runs asynchronously. If you need the objects to be available *directly* after you called this function, consider using `applyCollisionObjects` instead.

Definition at line 345 of file planning_scene_interface.cpp.

bool moveit::planning_interface::PlanningSceneInterface::applyAttachedCollisionObject ( const moveit_msgs::AttachedCollisionObject &  attached_collision_objects)

Apply attached collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.

Definition at line 320 of file planning_scene_interface.cpp.

bool moveit::planning_interface::PlanningSceneInterface::applyAttachedCollisionObjects ( const std::vector< moveit_msgs::AttachedCollisionObject > &  attached_collision_objects)

Apply attached collision objects to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.

Definition at line 330 of file planning_scene_interface.cpp.

bool moveit::planning_interface::PlanningSceneInterface::applyCollisionObject ( const moveit_msgs::CollisionObject &  collision_objects)

Apply collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.

Definition at line 301 of file planning_scene_interface.cpp.

bool moveit::planning_interface::PlanningSceneInterface::applyCollisionObjects ( const std::vector< moveit_msgs::CollisionObject > &  collision_objects)

Apply collision objects to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.

Definition at line 311 of file planning_scene_interface.cpp.

bool moveit::planning_interface::PlanningSceneInterface::applyPlanningScene ( const moveit_msgs::PlanningScene &  ps)

Update the planning_scene of the move_group node with the given ps synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group's monitored scene.

Definition at line 340 of file planning_scene_interface.cpp.

std::map< std::string, moveit_msgs::AttachedCollisionObject > moveit::planning_interface::PlanningSceneInterface::getAttachedObjects ( const std::vector< std::string > &  object_ids = std::vector<std::string>())

Get the attached objects identified by the given object ids list. If no ids are provided, return all the attached objects.

Definition at line 296 of file planning_scene_interface.cpp.

std::vector< std::string > moveit::planning_interface::PlanningSceneInterface::getKnownObjectNames ( bool  with_type = false)

Get the names of all known objects in the world. If with_type is set to true, only return objects that have a known type.

Definition at line 270 of file planning_scene_interface.cpp.

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

Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by getPlanningFrame()). + If with_type is set to true, only return objects that have a known type.

Definition at line 275 of file planning_scene_interface.cpp.

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

Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by getPlanningFrame()). If with_type is set to true, only return objects that have a known type.

Definition at line 76 of file planning_scene_interface.h.

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

Get the poses from the objects identified by the given object ids list.

Definition at line 284 of file planning_scene_interface.cpp.

std::map< std::string, moveit_msgs::CollisionObject > moveit::planning_interface::PlanningSceneInterface::getObjects ( const std::vector< std::string > &  object_ids = std::vector<std::string>())

Get the objects identified by the given object ids list. If no ids are provided, return all the known objects.

Definition at line 290 of file planning_scene_interface.cpp.

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

Remove collision objects from the world via /planning_scene.

The update runs asynchronously. If you need the objects to be removed *directly* after you called this function, consider using `applyCollisionObjects` instead.

Definition at line 351 of file planning_scene_interface.cpp.


Member Data Documentation

Definition at line 133 of file planning_scene_interface.h.


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


planning_interface
Author(s): Ioan Sucan
autogenerated on Sun May 21 2017 02:20:26