Classes
class	CommandListManager
	This class orchestrates the planning of single commands and command lists. More...

class	MoveGroupSequenceAction
	Provide action to handle multiple trajectories and execute the result in the form of a MoveGroup capability (plugin). More...

class	MoveGroupSequenceService
	Provide service to blend multiple trajectories in the form of a MoveGroup capability (plugin). More...

class	MoveItErrorCodeException
	Exception storing an moveit_msgs::MoveItErrorCodes value. More...

class	PlanComponentsBuilder
	Helper class to encapsulate the merge and blend process of trajectories. More...

class	TemplatedMoveItErrorCodeException

Typedefs
using	RobotTrajCont = std::vector< robot_trajectory::RobotTrajectoryPtr >

using	TipFrameFunc_t = std::function< const std::string &(const std::string &)>

Functions
	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoSolverException, moveit_msgs::MoveItErrorCodes::FAILURE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (MoreThanOneTipFrameException, moveit_msgs::MoveItErrorCodes::FAILURE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoBlenderSetException, moveit_msgs::MoveItErrorCodes::FAILURE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NegativeBlendRadiusException, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoTipFrameFunctionSetException, moveit_msgs::MoveItErrorCodes::FAILURE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoRobotModelSetException, moveit_msgs::MoveItErrorCodes::FAILURE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (LastBlendRadiusNotZeroException, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (BlendingFailedException, moveit_msgs::MoveItErrorCodes::FAILURE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (StartStateSetException, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (OverlappingBlendRadiiException, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (PlanningPipelineException, moveit_msgs::MoveItErrorCodes::FAILURE)

template<class JointModelGroup >
static const std::string &	getSolverTipFrame (const JointModelGroup *group)

template<class JointModelGroup >
static bool	hasSolver (const JointModelGroup *group)

Variables
static const std::string	PARAM_NAMESPACE_LIMITS = "robot_description_planning"

static const std::string	SEQUENCE_SERVICE_NAME = "plan_sequence_path"

Typedef Documentation

using pilz_trajectory_generation::RobotTrajCont = typedef std::vector<robot_trajectory::RobotTrajectoryPtr>

Definition at line 36 of file command_list_manager.h.

using pilz_trajectory_generation::TipFrameFunc_t = typedef std::function<const std::string&(const std::string&)>

Definition at line 35 of file plan_components_builder.h.

Function Documentation

pilz_trajectory_generation::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoSolverException	,
		moveit_msgs::MoveItErrorCodes::FAILURE
	)

pilz_trajectory_generation::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	MoreThanOneTipFrameException	,
		moveit_msgs::MoveItErrorCodes::FAILURE
	)

pilz_trajectory_generation::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoBlenderSetException	,
		moveit_msgs::MoveItErrorCodes::FAILURE
	)

pilz_trajectory_generation::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NegativeBlendRadiusException	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz_trajectory_generation::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoTipFrameFunctionSetException	,
		moveit_msgs::MoveItErrorCodes::FAILURE
	)

pilz_trajectory_generation::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoRobotModelSetException	,
		moveit_msgs::MoveItErrorCodes::FAILURE
	)

pilz_trajectory_generation::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	LastBlendRadiusNotZeroException	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz_trajectory_generation::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	BlendingFailedException	,
		moveit_msgs::MoveItErrorCodes::FAILURE
	)

pilz_trajectory_generation::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	StartStateSetException	,
		moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

pilz_trajectory_generation::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	OverlappingBlendRadiiException	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz_trajectory_generation::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	PlanningPipelineException	,
		moveit_msgs::MoveItErrorCodes::FAILURE
	)

template<class JointModelGroup >

static const std::string& pilz_trajectory_generation::getSolverTipFrame ( const JointModelGroup * group )

static

Returns: The name of the tip frame (link) of the specified group returned by the solver.

Template Parameters

JointModelGroup aims at moveit::core::JointModelGroup

Exceptions

exception	in case the group has no solver.
exception	in case the solver for the group has more than one tip frame.

Definition at line 59 of file tip_frame_getter.h.

template<class JointModelGroup >

static bool pilz_trajectory_generation::hasSolver ( const JointModelGroup * group )

static

Returns: true if the JointModelGroup has a solver, false otherwise.

Template Parameters

JointModelGroup aims at moveit::core::JointModelGroup

Exceptions

exception in case group is null.

Definition at line 41 of file tip_frame_getter.h.

Variable Documentation

const std::string pilz_trajectory_generation::PARAM_NAMESPACE_LIMITS = "robot_description_planning"

static

Definition at line 37 of file command_list_manager.cpp.

const std::string pilz_trajectory_generation::SEQUENCE_SERVICE_NAME = "plan_sequence_path"

static

Definition at line 26 of file capability_names.h.

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation