Public Member Functions | |
void | allowLooking (bool flag) |
void | allowReplanning (bool flag) |
bool | attachObject (const std::string &object, const std::string &link, const std::vector< std::string > &touch_links) |
void | clearPathConstraints () |
void | clearPoseTarget (const std::string &end_effector_link) |
void | clearPoseTargets () |
double | computeCartesianPath (const std::vector< geometry_msgs::Pose > &waypoints, double step, double jump_threshold, moveit_msgs::RobotTrajectory &msg, bool avoid_collisions, moveit_msgs::MoveItErrorCodes &error_code) |
void | constructGoal (moveit_msgs::MoveGroupGoal &goal_out) |
void | constructGoal (moveit_msgs::PickupGoal &goal_out, const std::string &object) |
void | constructGoal (moveit_msgs::PlaceGoal &goal_out, const std::string &object) |
bool | detachObject (const std::string &name) |
MoveItErrorCode | execute (const Plan &plan, bool wait) |
bool | getCurrentState (robot_state::RobotStatePtr ¤t_state, double wait_seconds=1.0) |
const std::string & | getEndEffector () const |
const std::string & | getEndEffectorLink () const |
double | getGoalJointTolerance () const |
double | getGoalOrientationTolerance () const |
double | getGoalPositionTolerance () const |
bool | getInterfaceDescription (moveit_msgs::PlannerInterfaceDescription &desc) |
const robot_model::JointModelGroup * | getJointModelGroup () const |
robot_state::RobotState & | getJointStateTarget () |
std::vector< std::string > | getKnownConstraints () const |
const Options & | getOptions () const |
moveit_msgs::Constraints | getPathConstraints () const |
double | getPlanningTime () const |
const std::string & | getPoseReferenceFrame () const |
const geometry_msgs::PoseStamped & | getPoseTarget (const std::string &end_effector_link) const |
const std::vector < geometry_msgs::PoseStamped > & | getPoseTargets (const std::string &end_effector_link) const |
double | getReplanningDelay () const |
const robot_model::RobotModelConstPtr & | getRobotModel () const |
robot_state::RobotStatePtr | getStartState () |
ActiveTargetType | getTargetType () const |
const boost::shared_ptr < tf::Transformer > & | getTF () const |
bool | hasPoseTarget (const std::string &end_effector_link) const |
void | initializeConstraintsStorage (const std::string &host, unsigned int port) |
MoveItErrorCode | move (bool wait) |
MoveGroupImpl (const Options &opt, const boost::shared_ptr< tf::Transformer > &tf, const ros::Duration &wait_for_server) | |
MoveItErrorCode | pick (const std::string &object, const std::vector< moveit_msgs::Grasp > &grasps) |
MoveItErrorCode | place (const std::string &object, const std::vector< geometry_msgs::PoseStamped > &poses) |
Place an object at one of the specified possible locations. | |
MoveItErrorCode | place (const std::string &object, const std::vector< moveit_msgs::PlaceLocation > &locations) |
MoveItErrorCode | plan (Plan &plan) |
void | setEndEffectorLink (const std::string &end_effector) |
void | setGoalJointTolerance (double tolerance) |
void | setGoalOrientationTolerance (double tolerance) |
void | setGoalPositionTolerance (double tolerance) |
bool | setJointValueTarget (const geometry_msgs::Pose &eef_pose, const std::string &end_effector_link, const std::string &frame, bool approx) |
void | setNumPlanningAttempts (unsigned int num_planning_attempts) |
void | setPathConstraints (const moveit_msgs::Constraints &constraint) |
bool | setPathConstraints (const std::string &constraint) |
void | setPlannerId (const std::string &planner_id) |
void | setPlanningTime (double seconds) |
void | setPoseReferenceFrame (const std::string &pose_reference_frame) |
bool | setPoseTargets (const std::vector< geometry_msgs::PoseStamped > &poses, const std::string &end_effector_link) |
void | setReplanningDelay (double delay) |
void | setStartState (const robot_state::RobotState &start_state) |
void | setStartStateToCurrentState () |
void | setSupportSurfaceName (const std::string &support_surface) |
void | setTargetType (ActiveTargetType type) |
void | setWorkspace (double minx, double miny, double minz, double maxx, double maxy, double maxz) |
bool | startStateMonitor (double wait) |
void | stop () |
template<typename T > | |
void | waitForAction (const T &action, const ros::Duration &wait_for_server, const std::string &name) |
~MoveGroupImpl () | |
Private Member Functions | |
void | initializeConstraintsStorageThread (const std::string &host, unsigned int port) |
Private Attributes | |
ActiveTargetType | active_target_ |
ros::Publisher | attached_object_publisher_ |
bool | can_look_ |
bool | can_replan_ |
ros::ServiceClient | cartesian_path_service_ |
robot_state::RobotStatePtr | considered_start_state_ |
boost::scoped_ptr< boost::thread > | constraints_init_thread_ |
boost::scoped_ptr < moveit_warehouse::ConstraintsStorage > | constraints_storage_ |
planning_scene_monitor::CurrentStateMonitorPtr | current_state_monitor_ |
std::string | end_effector_link_ |
ros::ServiceClient | execute_service_ |
double | goal_joint_tolerance_ |
double | goal_orientation_tolerance_ |
double | goal_position_tolerance_ |
bool | initializing_constraints_ |
const robot_model::JointModelGroup * | joint_model_group_ |
robot_state::RobotStatePtr | joint_state_target_ |
boost::scoped_ptr < actionlib::SimpleActionClient < moveit_msgs::MoveGroupAction > > | move_action_client_ |
ros::NodeHandle | node_handle_ |
unsigned int | num_planning_attempts_ |
Options | opt_ |
boost::scoped_ptr < moveit_msgs::Constraints > | path_constraints_ |
boost::scoped_ptr < actionlib::SimpleActionClient < moveit_msgs::PickupAction > > | pick_action_client_ |
boost::scoped_ptr < actionlib::SimpleActionClient < moveit_msgs::PlaceAction > > | place_action_client_ |
std::string | planner_id_ |
double | planning_time_ |
std::string | pose_reference_frame_ |
std::map< std::string, std::vector < geometry_msgs::PoseStamped > > | pose_targets_ |
ros::ServiceClient | query_service_ |
double | replan_delay_ |
robot_model::RobotModelConstPtr | robot_model_ |
std::string | support_surface_ |
boost::shared_ptr < tf::Transformer > | tf_ |
ros::Publisher | trajectory_event_publisher_ |
moveit_msgs::WorkspaceParameters | workspace_parameters_ |
Definition at line 83 of file move_group.cpp.
moveit::planning_interface::MoveGroup::MoveGroupImpl::MoveGroupImpl | ( | const Options & | opt, |
const boost::shared_ptr< tf::Transformer > & | tf, | ||
const ros::Duration & | wait_for_server | ||
) | [inline] |
Definition at line 87 of file move_group.cpp.
Definition at line 190 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::allowLooking | ( | bool | flag | ) | [inline] |
Definition at line 795 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::allowReplanning | ( | bool | flag | ) | [inline] |
Definition at line 801 of file move_group.cpp.
bool moveit::planning_interface::MoveGroup::MoveGroupImpl::attachObject | ( | const std::string & | object, |
const std::string & | link, | ||
const std::vector< std::string > & | touch_links | ||
) | [inline] |
Definition at line 704 of file move_group.cpp.
Definition at line 930 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::clearPoseTarget | ( | const std::string & | end_effector_link | ) | [inline] |
Definition at line 318 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::clearPoseTargets | ( | ) | [inline] |
Definition at line 323 of file move_group.cpp.
double moveit::planning_interface::MoveGroup::MoveGroupImpl::computeCartesianPath | ( | const std::vector< geometry_msgs::Pose > & | waypoints, |
double | step, | ||
double | jump_threshold, | ||
moveit_msgs::RobotTrajectory & | msg, | ||
bool | avoid_collisions, | ||
moveit_msgs::MoveItErrorCodes & | error_code | ||
) | [inline] |
Definition at line 660 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::constructGoal | ( | moveit_msgs::MoveGroupGoal & | goal_out | ) | [inline] |
Definition at line 818 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::constructGoal | ( | moveit_msgs::PickupGoal & | goal_out, |
const std::string & | object | ||
) | [inline] |
Definition at line 873 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::constructGoal | ( | moveit_msgs::PlaceGoal & | goal_out, |
const std::string & | object | ||
) | [inline] |
Definition at line 891 of file move_group.cpp.
bool moveit::planning_interface::MoveGroup::MoveGroupImpl::detachObject | ( | const std::string & | name | ) | [inline] |
Definition at line 730 of file move_group.cpp.
MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::execute | ( | const Plan & | plan, |
bool | wait | ||
) | [inline] |
Definition at line 644 of file move_group.cpp.
bool moveit::planning_interface::MoveGroup::MoveGroupImpl::getCurrentState | ( | robot_state::RobotStatePtr & | current_state, |
double | wait_seconds = 1.0 |
||
) | [inline] |
Definition at line 443 of file move_group.cpp.
const std::string& moveit::planning_interface::MoveGroup::MoveGroupImpl::getEndEffector | ( | ) | const [inline] |
Definition at line 333 of file move_group.cpp.
const std::string& moveit::planning_interface::MoveGroup::MoveGroupImpl::getEndEffectorLink | ( | ) | const [inline] |
Definition at line 328 of file move_group.cpp.
double moveit::planning_interface::MoveGroup::MoveGroupImpl::getGoalJointTolerance | ( | ) | const [inline] |
Definition at line 764 of file move_group.cpp.
double moveit::planning_interface::MoveGroup::MoveGroupImpl::getGoalOrientationTolerance | ( | ) | const [inline] |
Definition at line 759 of file move_group.cpp.
double moveit::planning_interface::MoveGroup::MoveGroupImpl::getGoalPositionTolerance | ( | ) | const [inline] |
Definition at line 754 of file move_group.cpp.
bool moveit::planning_interface::MoveGroup::MoveGroupImpl::getInterfaceDescription | ( | moveit_msgs::PlannerInterfaceDescription & | desc | ) | [inline] |
Definition at line 216 of file move_group.cpp.
const robot_model::JointModelGroup* moveit::planning_interface::MoveGroup::MoveGroupImpl::getJointModelGroup | ( | ) | const [inline] |
Definition at line 211 of file move_group.cpp.
robot_state::RobotState& moveit::planning_interface::MoveGroup::MoveGroupImpl::getJointStateTarget | ( | ) | [inline] |
Definition at line 239 of file move_group.cpp.
std::vector<std::string> moveit::planning_interface::MoveGroup::MoveGroupImpl::getKnownConstraints | ( | ) | const [inline] |
Definition at line 935 of file move_group.cpp.
const Options& moveit::planning_interface::MoveGroup::MoveGroupImpl::getOptions | ( | ) | const [inline] |
Definition at line 201 of file move_group.cpp.
moveit_msgs::Constraints moveit::planning_interface::MoveGroup::MoveGroupImpl::getPathConstraints | ( | ) | const [inline] |
Definition at line 950 of file move_group.cpp.
double moveit::planning_interface::MoveGroup::MoveGroupImpl::getPlanningTime | ( | ) | const [inline] |
Definition at line 790 of file move_group.cpp.
const std::string& moveit::planning_interface::MoveGroup::MoveGroupImpl::getPoseReferenceFrame | ( | ) | const [inline] |
Definition at line 412 of file move_group.cpp.
const geometry_msgs::PoseStamped& moveit::planning_interface::MoveGroup::MoveGroupImpl::getPoseTarget | ( | const std::string & | end_effector_link | ) | const [inline] |
Definition at line 371 of file move_group.cpp.
const std::vector<geometry_msgs::PoseStamped>& moveit::planning_interface::MoveGroup::MoveGroupImpl::getPoseTargets | ( | const std::string & | end_effector_link | ) | const [inline] |
Definition at line 387 of file move_group.cpp.
double moveit::planning_interface::MoveGroup::MoveGroupImpl::getReplanningDelay | ( | ) | const [inline] |
Definition at line 813 of file move_group.cpp.
const robot_model::RobotModelConstPtr& moveit::planning_interface::MoveGroup::MoveGroupImpl::getRobotModel | ( | ) | const [inline] |
Definition at line 206 of file move_group.cpp.
robot_state::RobotStatePtr moveit::planning_interface::MoveGroup::MoveGroupImpl::getStartState | ( | ) | [inline] |
Definition at line 254 of file move_group.cpp.
ActiveTargetType moveit::planning_interface::MoveGroup::MoveGroupImpl::getTargetType | ( | ) | const [inline] |
Definition at line 422 of file move_group.cpp.
const boost::shared_ptr<tf::Transformer>& moveit::planning_interface::MoveGroup::MoveGroupImpl::getTF | ( | ) | const [inline] |
Definition at line 196 of file move_group.cpp.
bool moveit::planning_interface::MoveGroup::MoveGroupImpl::hasPoseTarget | ( | const std::string & | end_effector_link | ) | const [inline] |
Definition at line 365 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::initializeConstraintsStorage | ( | const std::string & | host, |
unsigned int | port | ||
) | [inline] |
Definition at line 958 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::initializeConstraintsStorageThread | ( | const std::string & | host, |
unsigned int | port | ||
) | [inline, private] |
Definition at line 980 of file move_group.cpp.
MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::move | ( | bool | wait | ) | [inline] |
Definition at line 602 of file move_group.cpp.
MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::pick | ( | const std::string & | object, |
const std::vector< moveit_msgs::Grasp > & | grasps | ||
) | [inline] |
Definition at line 526 of file move_group.cpp.
MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::place | ( | const std::string & | object, |
const std::vector< geometry_msgs::PoseStamped > & | poses | ||
) | [inline] |
Place an object at one of the specified possible locations.
Definition at line 463 of file move_group.cpp.
MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::place | ( | const std::string & | object, |
const std::vector< moveit_msgs::PlaceLocation > & | locations | ||
) | [inline] |
Definition at line 487 of file move_group.cpp.
MoveItErrorCode moveit::planning_interface::MoveGroup::MoveGroupImpl::plan | ( | Plan & | plan | ) | [inline] |
Definition at line 564 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setEndEffectorLink | ( | const std::string & | end_effector | ) | [inline] |
Definition at line 313 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setGoalJointTolerance | ( | double | tolerance | ) | [inline] |
Definition at line 769 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setGoalOrientationTolerance | ( | double | tolerance | ) | [inline] |
Definition at line 779 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setGoalPositionTolerance | ( | double | tolerance | ) | [inline] |
Definition at line 774 of file move_group.cpp.
bool moveit::planning_interface::MoveGroup::MoveGroupImpl::setJointValueTarget | ( | const geometry_msgs::Pose & | eef_pose, |
const std::string & | end_effector_link, | ||
const std::string & | frame, | ||
bool | approx | ||
) | [inline] |
Definition at line 266 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setNumPlanningAttempts | ( | unsigned int | num_planning_attempts | ) | [inline] |
Definition at line 234 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPathConstraints | ( | const moveit_msgs::Constraints & | constraint | ) | [inline] |
Definition at line 908 of file move_group.cpp.
bool moveit::planning_interface::MoveGroup::MoveGroupImpl::setPathConstraints | ( | const std::string & | constraint | ) | [inline] |
Definition at line 913 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPlannerId | ( | const std::string & | planner_id | ) | [inline] |
Definition at line 229 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPlanningTime | ( | double | seconds | ) | [inline] |
Definition at line 784 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setPoseReferenceFrame | ( | const std::string & | pose_reference_frame | ) | [inline] |
Definition at line 402 of file move_group.cpp.
bool moveit::planning_interface::MoveGroup::MoveGroupImpl::setPoseTargets | ( | const std::vector< geometry_msgs::PoseStamped > & | poses, |
const std::string & | end_effector_link | ||
) | [inline] |
Definition at line 346 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setReplanningDelay | ( | double | delay | ) | [inline] |
Definition at line 807 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setStartState | ( | const robot_state::RobotState & | start_state | ) | [inline] |
Definition at line 244 of file move_group.cpp.
Definition at line 249 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setSupportSurfaceName | ( | const std::string & | support_surface | ) | [inline] |
Definition at line 407 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setTargetType | ( | ActiveTargetType | type | ) | [inline] |
Definition at line 417 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::setWorkspace | ( | double | minx, |
double | miny, | ||
double | minz, | ||
double | maxx, | ||
double | maxy, | ||
double | maxz | ||
) | [inline] |
Definition at line 966 of file move_group.cpp.
bool moveit::planning_interface::MoveGroup::MoveGroupImpl::startStateMonitor | ( | double | wait | ) | [inline] |
Definition at line 427 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::stop | ( | void | ) | [inline] |
Definition at line 694 of file move_group.cpp.
void moveit::planning_interface::MoveGroup::MoveGroupImpl::waitForAction | ( | const T & | action, |
const ros::Duration & | wait_for_server, | ||
const std::string & | name | ||
) | [inline] |
Definition at line 153 of file move_group.cpp.
ActiveTargetType moveit::planning_interface::MoveGroup::MoveGroupImpl::active_target_ [private] |
Definition at line 1025 of file move_group.cpp.
ros::Publisher moveit::planning_interface::MoveGroup::MoveGroupImpl::attached_object_publisher_ [private] |
Definition at line 1033 of file move_group.cpp.
Definition at line 1012 of file move_group.cpp.
Definition at line 1013 of file move_group.cpp.
ros::ServiceClient moveit::planning_interface::MoveGroup::MoveGroupImpl::cartesian_path_service_ [private] |
Definition at line 1036 of file move_group.cpp.
robot_state::RobotStatePtr moveit::planning_interface::MoveGroup::MoveGroupImpl::considered_start_state_ [private] |
Definition at line 1004 of file move_group.cpp.
boost::scoped_ptr<boost::thread> moveit::planning_interface::MoveGroup::MoveGroupImpl::constraints_init_thread_ [private] |
Definition at line 1038 of file move_group.cpp.
boost::scoped_ptr<moveit_warehouse::ConstraintsStorage> moveit::planning_interface::MoveGroup::MoveGroupImpl::constraints_storage_ [private] |
Definition at line 1037 of file move_group.cpp.
planning_scene_monitor::CurrentStateMonitorPtr moveit::planning_interface::MoveGroup::MoveGroupImpl::current_state_monitor_ [private] |
Definition at line 998 of file move_group.cpp.
std::string moveit::planning_interface::MoveGroup::MoveGroupImpl::end_effector_link_ [private] |
Definition at line 1027 of file move_group.cpp.
Definition at line 1034 of file move_group.cpp.
Definition at line 1009 of file move_group.cpp.
Definition at line 1011 of file move_group.cpp.
Definition at line 1010 of file move_group.cpp.
Definition at line 1039 of file move_group.cpp.
const robot_model::JointModelGroup* moveit::planning_interface::MoveGroup::MoveGroupImpl::joint_model_group_ [private] |
Definition at line 1018 of file move_group.cpp.
robot_state::RobotStatePtr moveit::planning_interface::MoveGroup::MoveGroupImpl::joint_state_target_ [private] |
Definition at line 1017 of file move_group.cpp.
boost::scoped_ptr<actionlib::SimpleActionClient<moveit_msgs::MoveGroupAction> > moveit::planning_interface::MoveGroup::MoveGroupImpl::move_action_client_ [private] |
Definition at line 999 of file move_group.cpp.
Definition at line 995 of file move_group.cpp.
unsigned int moveit::planning_interface::MoveGroup::MoveGroupImpl::num_planning_attempts_ [private] |
Definition at line 1008 of file move_group.cpp.
Definition at line 994 of file move_group.cpp.
boost::scoped_ptr<moveit_msgs::Constraints> moveit::planning_interface::MoveGroup::MoveGroupImpl::path_constraints_ [private] |
Definition at line 1026 of file move_group.cpp.
boost::scoped_ptr<actionlib::SimpleActionClient<moveit_msgs::PickupAction> > moveit::planning_interface::MoveGroup::MoveGroupImpl::pick_action_client_ [private] |
Definition at line 1000 of file move_group.cpp.
boost::scoped_ptr<actionlib::SimpleActionClient<moveit_msgs::PlaceAction> > moveit::planning_interface::MoveGroup::MoveGroupImpl::place_action_client_ [private] |
Definition at line 1001 of file move_group.cpp.
std::string moveit::planning_interface::MoveGroup::MoveGroupImpl::planner_id_ [private] |
Definition at line 1007 of file move_group.cpp.
double moveit::planning_interface::MoveGroup::MoveGroupImpl::planning_time_ [private] |
Definition at line 1006 of file move_group.cpp.
std::string moveit::planning_interface::MoveGroup::MoveGroupImpl::pose_reference_frame_ [private] |
Definition at line 1028 of file move_group.cpp.
std::map<std::string, std::vector<geometry_msgs::PoseStamped> > moveit::planning_interface::MoveGroup::MoveGroupImpl::pose_targets_ [private] |
Definition at line 1022 of file move_group.cpp.
Definition at line 1035 of file move_group.cpp.
double moveit::planning_interface::MoveGroup::MoveGroupImpl::replan_delay_ [private] |
Definition at line 1014 of file move_group.cpp.
robot_model::RobotModelConstPtr moveit::planning_interface::MoveGroup::MoveGroupImpl::robot_model_ [private] |
Definition at line 997 of file move_group.cpp.
std::string moveit::planning_interface::MoveGroup::MoveGroupImpl::support_surface_ [private] |
Definition at line 1029 of file move_group.cpp.
boost::shared_ptr<tf::Transformer> moveit::planning_interface::MoveGroup::MoveGroupImpl::tf_ [private] |
Definition at line 996 of file move_group.cpp.
ros::Publisher moveit::planning_interface::MoveGroup::MoveGroupImpl::trajectory_event_publisher_ [private] |
Definition at line 1032 of file move_group.cpp.
moveit_msgs::WorkspaceParameters moveit::planning_interface::MoveGroup::MoveGroupImpl::workspace_parameters_ [private] |
Definition at line 1005 of file move_group.cpp.