move_group_capability.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_MOVE_GROUP_CAPABILITY_
38 #define MOVEIT_MOVE_GROUP_CAPABILITY_
39 
45 
46 namespace move_group
47 {
49 {
54 };
55 
57 
59 {
60 public:
61  MoveGroupCapability(const std::string& capability_name) : node_handle_("~"), capability_name_(capability_name)
62  {
63  }
64 
66  {
67  }
68 
69  void setContext(const MoveGroupContextPtr& context);
70 
71  virtual void initialize() = 0;
72 
73  const std::string& getName() const
74  {
75  return capability_name_;
76  }
77 
78 protected:
79  std::string getActionResultString(const moveit_msgs::MoveItErrorCodes& error_code, bool planned_trajectory_empty,
80  bool plan_only);
81  std::string stateToStr(MoveGroupState state) const;
82 
83  void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
84  moveit_msgs::RobotState& first_state_msg,
85  std::vector<moveit_msgs::RobotTrajectory>& trajectory_msg) const;
86  void convertToMsg(const robot_trajectory::RobotTrajectoryPtr& trajectory, moveit_msgs::RobotState& first_state_msg,
87  moveit_msgs::RobotTrajectory& trajectory_msg) const;
88  void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory>& trajectory,
89  moveit_msgs::RobotState& first_state_msg, moveit_msgs::RobotTrajectory& trajectory_msg) const;
90 
93  moveit_msgs::PlanningScene clearSceneRobotState(const moveit_msgs::PlanningScene& scene) const;
94  bool performTransform(geometry_msgs::PoseStamped& pose_msg, const std::string& target_frame) const;
95 
98  std::string capability_name_;
99  MoveGroupContextPtr context_;
100 };
101 }
102 
103 #endif
std::string stateToStr(MoveGroupState state) const
planning_interface::MotionPlanRequest clearRequestStartState(const planning_interface::MotionPlanRequest &request) const
robot_trajectory::RobotTrajectory trajectory(rmodel,"right_arm")
std::string getActionResultString(const moveit_msgs::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only)
moveit_msgs::MotionPlanRequest MotionPlanRequest
void setContext(const MoveGroupContextPtr &context)
MoveGroupCapability(const std::string &capability_name)
bool performTransform(geometry_msgs::PoseStamped &pose_msg, const std::string &target_frame) const
void convertToMsg(const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, std::vector< moveit_msgs::RobotTrajectory > &trajectory_msg) const
MOVEIT_CLASS_FORWARD(MoveGroupCapability)
const std::string & getName() const
moveit_msgs::PlanningScene clearSceneRobotState(const moveit_msgs::PlanningScene &scene) const


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Thu Jul 12 2018 02:54:44