Public Member Functions | Private Member Functions | Private Attributes | List of all members
move_group::MoveGroupKinematicsService Class Reference

#include <kinematics_service_capability.h>

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

virtual void initialize ()
 
 MoveGroupKinematicsService ()
 
- Public Member Functions inherited from move_group::MoveGroupCapability
const std::string & getName () const
 
 MoveGroupCapability (const std::string &capability_name)
 
void setContext (const MoveGroupContextPtr &context)
 
virtual ~MoveGroupCapability ()
 

Private Member Functions

bool computeFKService (moveit_msgs::GetPositionFK::Request &req, moveit_msgs::GetPositionFK::Response &res)
 
void computeIK (moveit_msgs::PositionIKRequest &req, moveit_msgs::RobotState &solution, moveit_msgs::MoveItErrorCodes &error_code, robot_state::RobotState &rs, const robot_state::GroupStateValidityCallbackFn &constraint=robot_state::GroupStateValidityCallbackFn()) const
 
bool computeIKService (moveit_msgs::GetPositionIK::Request &req, moveit_msgs::GetPositionIK::Response &res)
 

Private Attributes

ros::ServiceServer fk_service_
 
ros::ServiceServer ik_service_
 

Additional Inherited Members

- Protected Member Functions inherited from move_group::MoveGroupCapability
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 inherited from move_group::MoveGroupCapability
std::string capability_name_
 
MoveGroupContextPtr context_
 
ros::NodeHandle node_handle_
 
ros::NodeHandle root_node_handle_
 

Detailed Description

Definition at line 46 of file kinematics_service_capability.h.

Constructor & Destructor Documentation

move_group::MoveGroupKinematicsService::MoveGroupKinematicsService ( )

Definition at line 43 of file kinematics_service_capability.cpp.

Member Function Documentation

bool move_group::MoveGroupKinematicsService::computeFKService ( moveit_msgs::GetPositionFK::Request &  req,
moveit_msgs::GetPositionFK::Response &  res 
)
private

Definition at line 172 of file kinematics_service_capability.cpp.

void move_group::MoveGroupKinematicsService::computeIK ( moveit_msgs::PositionIKRequest &  req,
moveit_msgs::RobotState &  solution,
moveit_msgs::MoveItErrorCodes &  error_code,
robot_state::RobotState &  rs,
const robot_state::GroupStateValidityCallbackFn constraint = robot_state::GroupStateValidityCallbackFn() 
) const
private

Definition at line 69 of file kinematics_service_capability.cpp.

bool move_group::MoveGroupKinematicsService::computeIKService ( moveit_msgs::GetPositionIK::Request &  req,
moveit_msgs::GetPositionIK::Response &  res 
)
private

Definition at line 143 of file kinematics_service_capability.cpp.

void move_group::MoveGroupKinematicsService::initialize ( )
virtual

Implements move_group::MoveGroupCapability.

Definition at line 47 of file kinematics_service_capability.cpp.

Member Data Documentation

ros::ServiceServer move_group::MoveGroupKinematicsService::fk_service_
private

Definition at line 62 of file kinematics_service_capability.h.

ros::ServiceServer move_group::MoveGroupKinematicsService::ik_service_
private

Definition at line 63 of file kinematics_service_capability.h.


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


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Fri Oct 12 2018 03:57:07