move_action_capability.h
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 
37 #ifndef MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_
38 #define MOVEIT_MOVE_GROUP_MOVE_ACTION_CAPABILITY_
39 
42 #include <moveit_msgs/MoveGroupAction.h>
43 #include <memory>
44 
45 namespace move_group
46 {
48 {
49 public:
51 
52  virtual void initialize();
53 
54 private:
55  void executeMoveCallback(const moveit_msgs::MoveGroupGoalConstPtr& goal);
56  void executeMoveCallback_PlanAndExecute(const moveit_msgs::MoveGroupGoalConstPtr& goal,
57  moveit_msgs::MoveGroupResult& action_res);
58  void executeMoveCallback_PlanOnly(const moveit_msgs::MoveGroupGoalConstPtr& goal,
59  moveit_msgs::MoveGroupResult& action_res);
61  void startMoveLookCallback();
62  void preemptMoveCallback();
63  void setMoveState(MoveGroupState state);
66 
67  std::unique_ptr<actionlib::SimpleActionServer<moveit_msgs::MoveGroupAction> > move_action_server_;
68  moveit_msgs::MoveGroupFeedback move_feedback_;
69 
72 };
73 }
74 
75 #endif
void executeMoveCallback_PlanAndExecute(const moveit_msgs::MoveGroupGoalConstPtr &goal, moveit_msgs::MoveGroupResult &action_res)
moveit_msgs::MoveGroupFeedback move_feedback_
void executeMoveCallback_PlanOnly(const moveit_msgs::MoveGroupGoalConstPtr &goal, moveit_msgs::MoveGroupResult &action_res)
void executeMoveCallback(const moveit_msgs::MoveGroupGoalConstPtr &goal)
moveit_msgs::MotionPlanRequest MotionPlanRequest
std::unique_ptr< actionlib::SimpleActionServer< moveit_msgs::MoveGroupAction > > move_action_server_
void setMoveState(MoveGroupState state)
bool planUsingPlanningPipeline(const planning_interface::MotionPlanRequest &req, plan_execution::ExecutableMotionPlan &plan)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jul 18 2018 02:49:24