#include <ros/ros.h>#include <ros/package.h>#include <ros/service.h>#include <tf/transform_listener.h>#include <tf_conversions/tf_eigen.h>#include <eigen_conversions/eigen_msg.h>#include <moveit/move_group_interface/move_group_interface.h>#include <moveit_msgs/ExecuteKnownTrajectory.h>#include <visualization_msgs/Marker.h>#include <visualization_msgs/MarkerArray.h>#include <std_msgs/String.h>#include <eigen_stl_containers/eigen_stl_vector_container.h>#include "bezier_library/bezier_grinding_surfacing.hpp"#include <fanuc_grinding_path_planning/PathPlanningService.h>
Include dependency graph for path_planning.cpp:
Go to the source code of this file.
Functions | |
| int | main (int argc, char **argv) |
| const std::string | move_group_name ("grinding_disk") |
| bool | pathPlanning (fanuc_grinding_path_planning::PathPlanningService::Request &req, fanuc_grinding_path_planning::PathPlanningService::Response &res) |
| const std::string | tcp_name ("/grinding_disk_tcp") |
Variables | |
| boost::shared_ptr< BezierGrindingSurfacing > | bezier |
| boost::shared_ptr< moveit::planning_interface::MoveGroupInterface > | group |
| std::string | input_mesh_filename = "" |
| boost::shared_ptr< ros::NodeHandle > | node |
| boost::shared_ptr< ros::Publisher > | status_pub |
| EigenSTL::vector_Affine3d | way_points_vector |
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 153 of file path_planning.cpp.
| const std::string move_group_name | ( | "grinding_disk" | ) |
Name of the move_group used to move the robot during calibration
| bool pathPlanning | ( | fanuc_grinding_path_planning::PathPlanningService::Request & | req, |
| fanuc_grinding_path_planning::PathPlanningService::Response & | res | ||
| ) |
This is the service function that is called whenever a request is received
- Parameters
-
req[int] res[out]
- Returns
- Always true
Definition at line 48 of file path_planning.cpp.
| const std::string tcp_name | ( | "/grinding_disk_tcp" | ) |
Name of the TCP that should be used to compute the trajectories
Variable Documentation
| boost::shared_ptr<BezierGrindingSurfacing> bezier |
Bezier path planner object
Definition at line 37 of file path_planning.cpp.
Definition at line 24 of file path_planning.cpp.
| std::string input_mesh_filename = "" |
File path of the mesh used by the path planner
Definition at line 40 of file path_planning.cpp.
Definition at line 25 of file path_planning.cpp.
| boost::shared_ptr<ros::Publisher> status_pub |
Status publisher
Definition at line 29 of file path_planning.cpp.
| EigenSTL::vector_Affine3d way_points_vector |
Definition at line 26 of file path_planning.cpp.