Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
move_group::MoveGroupCapability Class Referenceabstract

#include <move_group_capability.h>

Inheritance diagram for move_group::MoveGroupCapability:
Inheritance graph
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Public Member Functions

const std::string & getName () const
 
virtual void initialize ()=0
 
 MoveGroupCapability (const std::string &capability_name)
 
void setContext (const MoveGroupContextPtr &context)
 
virtual ~MoveGroupCapability ()
 

Protected Member Functions

planning_interface::MotionPlanRequest clearRequestStartState (const planning_interface::MotionPlanRequest &request) const
 
moveit_msgs::PlanningScene clearSceneRobotState (const moveit_msgs::PlanningScene &scene) const
 
void convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, std::vector< moveit_msgs::RobotTrajectory > &trajectory_msg) const
 
void convertToMsg (const robot_trajectory::RobotTrajectoryPtr &trajectory, moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const
 
void convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const
 
std::string getActionResultString (const moveit_msgs::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only)
 
bool performTransform (geometry_msgs::PoseStamped &pose_msg, const std::string &target_frame) const
 
std::string stateToStr (MoveGroupState state) const
 

Protected Attributes

std::string capability_name_
 
MoveGroupContextPtr context_
 
ros::NodeHandle node_handle_
 
ros::NodeHandle root_node_handle_
 

Detailed Description

Definition at line 58 of file move_group_capability.h.

Constructor & Destructor Documentation

move_group::MoveGroupCapability::MoveGroupCapability ( const std::string &  capability_name)
inline

Definition at line 61 of file move_group_capability.h.

virtual move_group::MoveGroupCapability::~MoveGroupCapability ( )
inlinevirtual

Definition at line 65 of file move_group_capability.h.

Member Function Documentation

planning_interface::MotionPlanRequest move_group::MoveGroupCapability::clearRequestStartState ( const planning_interface::MotionPlanRequest request) const
protected

Definition at line 90 of file move_group_capability.cpp.

moveit_msgs::PlanningScene move_group::MoveGroupCapability::clearSceneRobotState ( const moveit_msgs::PlanningScene &  scene) const
protected

Definition at line 101 of file move_group_capability.cpp.

void move_group::MoveGroupCapability::convertToMsg ( const std::vector< plan_execution::ExecutableTrajectory > &  trajectory,
moveit_msgs::RobotState &  first_state_msg,
std::vector< moveit_msgs::RobotTrajectory > &  trajectory_msg 
) const
protected

Definition at line 45 of file move_group_capability.cpp.

void move_group::MoveGroupCapability::convertToMsg ( const robot_trajectory::RobotTrajectoryPtr &  trajectory,
moveit_msgs::RobotState &  first_state_msg,
moveit_msgs::RobotTrajectory &  trajectory_msg 
) const
protected

Definition at line 68 of file move_group_capability.cpp.

void move_group::MoveGroupCapability::convertToMsg ( const std::vector< plan_execution::ExecutableTrajectory > &  trajectory,
moveit_msgs::RobotState &  first_state_msg,
moveit_msgs::RobotTrajectory &  trajectory_msg 
) const
protected

Definition at line 79 of file move_group_capability.cpp.

std::string move_group::MoveGroupCapability::getActionResultString ( const moveit_msgs::MoveItErrorCodes &  error_code,
bool  planned_trajectory_empty,
bool  plan_only 
)
protected

Definition at line 111 of file move_group_capability.cpp.

const std::string& move_group::MoveGroupCapability::getName ( ) const
inline

Definition at line 73 of file move_group_capability.h.

virtual void move_group::MoveGroupCapability::initialize ( )
pure virtual
bool move_group::MoveGroupCapability::performTransform ( geometry_msgs::PoseStamped &  pose_msg,
const std::string &  target_frame 
) const
protected

Definition at line 172 of file move_group_capability.cpp.

void move_group::MoveGroupCapability::setContext ( const MoveGroupContextPtr &  context)

Definition at line 40 of file move_group_capability.cpp.

std::string move_group::MoveGroupCapability::stateToStr ( MoveGroupState  state) const
protected

Definition at line 155 of file move_group_capability.cpp.

Member Data Documentation

std::string move_group::MoveGroupCapability::capability_name_
protected

Definition at line 98 of file move_group_capability.h.

MoveGroupContextPtr move_group::MoveGroupCapability::context_
protected

Definition at line 99 of file move_group_capability.h.

ros::NodeHandle move_group::MoveGroupCapability::node_handle_
protected

Definition at line 97 of file move_group_capability.h.

ros::NodeHandle move_group::MoveGroupCapability::root_node_handle_
protected

Definition at line 96 of file move_group_capability.h.


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


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sun Jan 21 2018 03:55:45