get_planning_scene_service_capability.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2012, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
39 
41  : MoveGroupCapability("GetPlanningSceneService")
42 {
43 }
44 
46 {
49 }
50 
51 bool move_group::MoveGroupGetPlanningSceneService::getPlanningSceneService(moveit_msgs::GetPlanningScene::Request& req,
52  moveit_msgs::GetPlanningScene::Response& res)
53 {
54  if (req.components.components & moveit_msgs::PlanningSceneComponents::TRANSFORMS)
55  context_->planning_scene_monitor_->updateFrameTransforms();
56  planning_scene_monitor::LockedPlanningSceneRO ps(context_->planning_scene_monitor_);
57  ps->getPlanningSceneMsg(res.scene, req.components);
58  return true;
59 }
60 
static const std::string GET_PLANNING_SCENE_SERVICE_NAME
bool getPlanningSceneService(moveit_msgs::GetPlanningScene::Request &req, moveit_msgs::GetPlanningScene::Response &res)
ServiceServer advertiseService(const std::string &service, bool(T::*srv_func)(MReq &, MRes &), T *obj)
CLASS_LOADER_REGISTER_CLASS(Dog, Base)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Apr 18 2018 02:49:55