planning_scene_interface.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_
38 #define MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_
39 
42 #include <moveit_msgs/ObjectColor.h>
43 #include <moveit_msgs/CollisionObject.h>
44 #include <moveit_msgs/AttachedCollisionObject.h>
45 #include <moveit_msgs/PlanningScene.h>
46 
47 namespace moveit
48 {
49 namespace planning_interface
50 {
51 MOVEIT_CLASS_FORWARD(PlanningSceneInterface);
52 
54 {
55 public:
56  explicit PlanningSceneInterface(const std::string& ns = "");
58 
66  std::vector<std::string> getKnownObjectNames(bool with_type = false);
67 
71  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
72  double maxz, bool with_type, std::vector<std::string>& types);
73 
77  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy,
78  double maxz, bool with_type = false)
79  {
80  std::vector<std::string> empty_vector_string;
81  return getKnownObjectNamesInROI(minx, miny, minz, maxx, maxy, maxz, with_type, empty_vector_string);
82  };
83 
85  std::map<std::string, geometry_msgs::Pose> getObjectPoses(const std::vector<std::string>& object_ids);
86 
89  std::map<std::string, moveit_msgs::CollisionObject>
90  getObjects(const std::vector<std::string>& object_ids = std::vector<std::string>());
91 
94  std::map<std::string, moveit_msgs::AttachedCollisionObject>
95  getAttachedObjects(const std::vector<std::string>& object_ids = std::vector<std::string>());
96 
99  bool applyCollisionObject(const moveit_msgs::CollisionObject& collision_object);
100 
103  bool applyCollisionObject(const moveit_msgs::CollisionObject& collision_object,
104  const std_msgs::ColorRGBA& object_color);
105 
110  const std::vector<moveit_msgs::CollisionObject>& collision_objects,
111  const std::vector<moveit_msgs::ObjectColor>& object_colors = std::vector<moveit_msgs::ObjectColor>());
112 
115  bool applyAttachedCollisionObject(const moveit_msgs::AttachedCollisionObject& attached_collision_object);
116 
119  bool
120  applyAttachedCollisionObjects(const std::vector<moveit_msgs::AttachedCollisionObject>& attached_collision_objects);
121 
124  bool applyPlanningScene(const moveit_msgs::PlanningScene& ps);
125 
131  void addCollisionObjects(
132  const std::vector<moveit_msgs::CollisionObject>& collision_objects,
133  const std::vector<moveit_msgs::ObjectColor>& object_colors = std::vector<moveit_msgs::ObjectColor>()) const;
134 
139  void removeCollisionObjects(const std::vector<std::string>& object_ids) const;
140 
143 private:
146 };
147 }
148 }
149 
150 #endif
std::vector< std::string > getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy, double maxz, bool with_type=false)
Get the names of known objects in the world that are located within a bounding region (specified in t...
bool applyCollisionObject(const moveit_msgs::CollisionObject &collision_object)
Apply collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group&#39;s monitored scene.
bool applyCollisionObjects(const std::vector< moveit_msgs::CollisionObject > &collision_objects, const std::vector< moveit_msgs::ObjectColor > &object_colors=std::vector< moveit_msgs::ObjectColor >())
Apply collision objects to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group&#39;s monitored scene. If object_colors do not specify an id, the corresponding object id from collision_objects is used.
std::map< std::string, moveit_msgs::CollisionObject > getObjects(const std::vector< std::string > &object_ids=std::vector< std::string >())
Get the objects identified by the given object ids list. If no ids are provided, return all the known...
void addCollisionObjects(const std::vector< moveit_msgs::CollisionObject > &collision_objects, const std::vector< moveit_msgs::ObjectColor > &object_colors=std::vector< moveit_msgs::ObjectColor >()) const
Add collision objects to the world via /planning_scene. Make sure object.operation is set to object...
std::map< std::string, geometry_msgs::Pose > getObjectPoses(const std::vector< std::string > &object_ids)
Get the poses from the objects identified by the given object ids list.
bool applyAttachedCollisionObjects(const std::vector< moveit_msgs::AttachedCollisionObject > &attached_collision_objects)
Apply attached collision objects to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group&#39;s monitored scene.
bool applyPlanningScene(const moveit_msgs::PlanningScene &ps)
Update the planning_scene of the move_group node with the given ps synchronously. Other PlanningScene...
std::map< std::string, moveit_msgs::AttachedCollisionObject > getAttachedObjects(const std::vector< std::string > &object_ids=std::vector< std::string >())
Get the attached objects identified by the given object ids list. If no ids are provided, return all the attached objects.
bool applyAttachedCollisionObject(const moveit_msgs::AttachedCollisionObject &attached_collision_object)
Apply attached collision object to the planning scene of the move_group node synchronously. Other PlanningSceneMonitors will NOT receive the update unless they subscribe to move_group&#39;s monitored scene.
std::vector< std::string > getKnownObjectNames(bool with_type=false)
Get the names of all known objects in the world. If with_type is set to true, only return objects tha...
void removeCollisionObjects(const std::vector< std::string > &object_ids) const
Remove collision objects from the world via /planning_scene.
std::vector< std::string > getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy, double maxz, bool with_type, std::vector< std::string > &types)
Get the names of known objects in the world that are located within a bounding region (specified in t...
MOVEIT_CLASS_FORWARD(MoveGroupInterface)


planning_interface
Author(s): Ioan Sucan
autogenerated on Tue Jun 12 2018 02:49:20