#include <move_group_capability.h>

Inheritance diagram for move_group::MoveGroupCapability:

Public Member Functions
const std::string &	getName () const
virtual void	initialize ()=0
	MoveGroupCapability (const std::string &capability_name)
void	setContext (const MoveGroupContextPtr &context)
virtual	~MoveGroupCapability ()
Protected Member Functions
planning_interface::MotionPlanRequest	clearRequestStartState (const planning_interface::MotionPlanRequest &request) const
moveit_msgs::PlanningScene	clearSceneRobotState (const moveit_msgs::PlanningScene &scene) const
void	convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, std::vector< moveit_msgs::RobotTrajectory > &trajectory_msg) const
void	convertToMsg (const robot_trajectory::RobotTrajectoryPtr &trajectory, moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const
void	convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::RobotState &first_state_msg, moveit_msgs::RobotTrajectory &trajectory_msg) const
std::string	getActionResultString (const moveit_msgs::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only)
bool	performTransform (geometry_msgs::PoseStamped &pose_msg, const std::string &target_frame) const
std::string	stateToStr (MoveGroupState state) const
Protected Attributes
std::string	capability_name_
MoveGroupContextPtr	context_
ros::NodeHandle	node_handle_
ros::NodeHandle	root_node_handle_

Detailed Description

Definition at line 56 of file move_group_capability.h.

Constructor & Destructor Documentation

move_group::MoveGroupCapability::MoveGroupCapability ( const std::string & capability_name ) [inline]

Definition at line 60 of file move_group_capability.h.

virtual move_group::MoveGroupCapability::~MoveGroupCapability ( ) [inline, virtual]

Definition at line 66 of file move_group_capability.h.

Member Function Documentation

planning_interface::MotionPlanRequest move_group::MoveGroupCapability::clearRequestStartState ( const planning_interface::MotionPlanRequest & request ) const [protected]

Definition at line 86 of file move_group_capability.cpp.

moveit_msgs::PlanningScene move_group::MoveGroupCapability::clearSceneRobotState ( const moveit_msgs::PlanningScene & scene ) const [protected]

Definition at line 94 of file move_group_capability.cpp.

void move_group::MoveGroupCapability::convertToMsg	(	const std::vector< plan_execution::ExecutableTrajectory > &	trajectory,
		moveit_msgs::RobotState &	first_state_msg,
		std::vector< moveit_msgs::RobotTrajectory > &	trajectory_msg
	)		const `[protected]`

Definition at line 45 of file move_group_capability.cpp.

void move_group::MoveGroupCapability::convertToMsg	(	const robot_trajectory::RobotTrajectoryPtr &	trajectory,
		moveit_msgs::RobotState &	first_state_msg,
		moveit_msgs::RobotTrajectory &	trajectory_msg
	)		const `[protected]`

Definition at line 67 of file move_group_capability.cpp.

void move_group::MoveGroupCapability::convertToMsg	(	const std::vector< plan_execution::ExecutableTrajectory > &	trajectory,
		moveit_msgs::RobotState &	first_state_msg,
		moveit_msgs::RobotTrajectory &	trajectory_msg
	)		const `[protected]`

Definition at line 77 of file move_group_capability.cpp.

std::string move_group::MoveGroupCapability::getActionResultString	(	const moveit_msgs::MoveItErrorCodes &	error_code,
		bool	planned_trajectory_empty,
		bool	plan_only
	)		`[protected]`