kinematics_request_response.h
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37 
38 #ifndef MOVEIT_KINEMATICS_CONSTRAINT_AWARE_KINEMATICS_REQUEST_RESPONSE_
39 #define MOVEIT_KINEMATICS_CONSTRAINT_AWARE_KINEMATICS_REQUEST_RESPONSE_
40 
41 // System
42 #include <boost/shared_ptr.hpp>
43 
44 // ROS msgs
45 #include <geometry_msgs/PoseStamped.h>
46 
47 // MoveIt!
48 #include <moveit_msgs/MoveItErrorCodes.h>
49 #include <moveit/robot_model/robot_model.h>
50 #include <moveit/robot_state/robot_state.h>
51 #include <moveit/robot_model/robot_model.h>
52 #include <moveit/kinematic_constraints/kinematic_constraint.h>
53 
55 {
60 {
61 public:
63  {
64  }
65 
66  virtual ~KinematicsRequest(){};
67 
68  std::vector<geometry_msgs::PoseStamped> pose_stamped_vector_;
69 
70  std::vector<std::string> ik_link_names_;
71 
72  robot_state::RobotStatePtr robot_state_;
73 
74  kinematic_constraints::KinematicConstraintSetPtr constraints_;
75 
76  ros::Duration timeout_;
77 
78  std::string group_name_;
79 
81 
82  robot_state::StateValidityCallbackFn constraint_callback_;
83 };
84 
89 {
90 public:
92  {
93  }
94 
95  virtual ~KinematicsResponse(){};
96 
97  robot_state::RobotStatePtr solution_;
98 
99  std::vector<kinematic_constraints::ConstraintEvaluationResult> constraint_eval_results_;
100 
101  collision_detection::CollisionResult collision_result_;
102 
103  moveit_msgs::MoveItErrorCodes error_code_;
104 
105  bool result_;
106 };
107 }
108 
109 #endif
std::vector< geometry_msgs::PoseStamped > pose_stamped_vector_
collision_detection::CollisionResult collision_result_
std::vector< kinematic_constraints::ConstraintEvaluationResult > constraint_eval_results_
kinematic_constraints::KinematicConstraintSetPtr constraints_
robot_state::StateValidityCallbackFn constraint_callback_


moveit_experimental
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley , Jorge Nicho
autogenerated on Wed Jul 10 2019 04:03:02