Public Member Functions | Private Member Functions | Private Attributes | List of all members
moveit_commander.planning_scene_interface.PlanningSceneInterface Class Reference
Inheritance diagram for moveit_commander.planning_scene_interface.PlanningSceneInterface:
Inheritance graph
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Public Member Functions

def __init__ (self, ns='')
 
def add_box (self, name, pose, size=(1, 1, 1))
 
def add_cylinder (self, name, pose, height, radius)
 
def add_mesh (self, name, pose, filename, size=(1, 1, 1))
 
def add_plane (self, name, pose, normal=(0, 0, 1), offset=0)
 
def add_sphere (self, name, pose, radius=1)
 
def attach_box (self, link, name, pose=None, size=(1, 1, 1), touch_links=[])
 
def attach_mesh (self, link, name, pose=None, filename='', size=(1, 1, 1), touch_links=[])
 
def get_attached_objects (self, object_ids=[])
 
def get_known_object_names (self, with_type=False)
 
def get_known_object_names_in_roi (self, minx, miny, minz, maxx, maxy, maxz, with_type=False)
 
def get_object_poses (self, object_ids)
 
def get_objects (self, object_ids=[])
 
def remove_attached_object (self, link, name=None)
 
def remove_world_object (self, name=None)
 

Private Member Functions

def __make_box (self, name, pose, size)
 
def __make_cylinder (self, name, pose, height, radius)
 
def __make_existing (self, name)
 
def __make_mesh (self, name, pose, filename, scale=(1, 1, 1))
 
def __make_sphere (self, name, pose, radius)
 

Private Attributes

 _psi
 
 _pub_aco
 
 _pub_co
 

Detailed Description

Simple interface to making updates to a planning scene 

Definition at line 57 of file planning_scene_interface.py.

Constructor & Destructor Documentation

◆ __init__()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__init__ (   self,
  ns = '' 
)
Create a planning scene interface; it uses both C++ wrapped methods and scene manipulation topics. 

Definition at line 60 of file planning_scene_interface.py.

Member Function Documentation

◆ __make_box()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__make_box (   self,
  name,
  pose,
  size 
)
private

Definition at line 101 of file planning_scene_interface.py.

◆ __make_cylinder()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__make_cylinder (   self,
  name,
  pose,
  height,
  radius 
)
private

Definition at line 85 of file planning_scene_interface.py.

◆ __make_existing()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__make_existing (   self,
  name 
)
private
Create an empty Collision Object, used when the object already exists

Definition at line 155 of file planning_scene_interface.py.

◆ __make_mesh()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__make_mesh (   self,
  name,
  pose,
  filename,
  scale = (1, 1, 1) 
)
private

Definition at line 113 of file planning_scene_interface.py.

◆ __make_sphere()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__make_sphere (   self,
  name,
  pose,
  radius 
)
private

Definition at line 67 of file planning_scene_interface.py.

◆ add_box()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_box (   self,
  name,
  pose,
  size = (1, 1, 1) 
)
Add a box to the planning scene

Definition at line 169 of file planning_scene_interface.py.

◆ add_cylinder()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_cylinder (   self,
  name,
  pose,
  height,
  radius 
)
Add a cylinder to the planning scene

Definition at line 97 of file planning_scene_interface.py.

◆ add_mesh()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_mesh (   self,
  name,
  pose,
  filename,
  size = (1, 1, 1) 
)
Add a mesh to the planning scene

Definition at line 163 of file planning_scene_interface.py.

◆ add_plane()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_plane (   self,
  name,
  pose,
  normal = (0, 0, 1),
  offset = 0 
)
Add a plane to the planning scene 

Definition at line 175 of file planning_scene_interface.py.

◆ add_sphere()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_sphere (   self,
  name,
  pose,
  radius = 1 
)
Add a sphere to the planning scene

Definition at line 79 of file planning_scene_interface.py.

◆ attach_box()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.attach_box (   self,
  link,
  name,
  pose = None,
  size = (1, 1, 1),
  touch_links = [] 
)

Definition at line 200 of file planning_scene_interface.py.

◆ attach_mesh()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.attach_mesh (   self,
  link,
  name,
  pose = None,
  filename = '',
  size = (1, 1, 1),
  touch_links = [] 
)

Definition at line 188 of file planning_scene_interface.py.

◆ get_attached_objects()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_attached_objects (   self,
  object_ids = [] 
)
Get the attached objects identified by the given object ids list. If no ids are provided, return all the attached objects.

Definition at line 271 of file planning_scene_interface.py.

◆ get_known_object_names()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_known_object_names (   self,
  with_type = False 
)
Get the names of all known objects in the world. If with_type is set to true, only return objects that have a known type.

Definition at line 234 of file planning_scene_interface.py.

◆ get_known_object_names_in_roi()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_known_object_names_in_roi (   self,
  minx,
  miny,
  minz,
  maxx,
  maxy,
  maxz,
  with_type = False 
)
Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by
get_planning_frame()). If with_type is set to true, only return objects that have a known type.

Definition at line 240 of file planning_scene_interface.py.

◆ get_object_poses()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_object_poses (   self,
  object_ids 
)
Get the poses from the objects identified by the given object ids list.

Definition at line 247 of file planning_scene_interface.py.

◆ get_objects()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_objects (   self,
  object_ids = [] 
)
Get the objects identified by the given object ids list. If no ids are provided, return all the known objects.

Definition at line 259 of file planning_scene_interface.py.

◆ remove_attached_object()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.remove_attached_object (   self,
  link,
  name = None 
)
Remove an attached object from planning scene, or all objects attached to this link if no name is provided

Definition at line 223 of file planning_scene_interface.py.

◆ remove_world_object()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.remove_world_object (   self,
  name = None 
)
Remove an object from planning scene, or all if no name is provided

Definition at line 213 of file planning_scene_interface.py.

Member Data Documentation

◆ _psi

moveit_commander.planning_scene_interface.PlanningSceneInterface._psi
private

Definition at line 62 of file planning_scene_interface.py.

◆ _pub_aco

moveit_commander.planning_scene_interface.PlanningSceneInterface._pub_aco
private

Definition at line 65 of file planning_scene_interface.py.

◆ _pub_co

moveit_commander.planning_scene_interface.PlanningSceneInterface._pub_co
private

Definition at line 64 of file planning_scene_interface.py.


The documentation for this class was generated from the following file:


moveit_commander
Author(s): Ioan Sucan
autogenerated on Thu Jun 13 2019 19:56:21