Classes | Public Member Functions | Private Attributes | List of all members
moveit_commander.robot.RobotCommander Class Reference
Inheritance diagram for moveit_commander.robot.RobotCommander:
Inheritance graph


class  Joint
class  Link

Public Member Functions

def __getattr__ (self, name)
def __init__ (self, robot_description="robot_description", ns="")
def get_current_state (self)
def get_current_variable_values (self)
def get_default_owner_group (self, joint_name)
def get_group (self, name)
def get_group_names (self)
def get_joint (self, name)
def get_joint_names (self, group=None)
def get_link (self, name)
def get_link_names (self, group=None)
def get_planning_frame (self)
def get_robot_markers (self, args)
def get_root_link (self)
def has_group (self, name)

Private Attributes


Detailed Description

Definition at line 42 of file

Constructor & Destructor Documentation

def moveit_commander.robot.RobotCommander.__init__ (   self,
  robot_description = "robot_description",
  ns = "" 

Definition at line 148 of file

Member Function Documentation

def moveit_commander.robot.RobotCommander.__getattr__ (   self,
We catch the names of groups, joints and links to allow easy access
to their properties.

Definition at line 294 of file

def moveit_commander.robot.RobotCommander.get_current_state (   self)
Get a RobotState message describing the current state of the robot

Definition at line 224 of file

def moveit_commander.robot.RobotCommander.get_current_variable_values (   self)
Get a dictionary mapping variable names to values.
Note that a joint may consist of one or more variables.

Definition at line 230 of file

def moveit_commander.robot.RobotCommander.get_default_owner_group (   self,
Get the name of the smallest group (fewest joints) that includes
the joint name specified as argument.

Definition at line 277 of file

def moveit_commander.robot.RobotCommander.get_group (   self,
@param name str: Name of movegroup
@rtype: moveit_commander.MoveGroupCommander

Definition at line 259 of file

def moveit_commander.robot.RobotCommander.get_group_names (   self)
Get the names of the groups defined for the robot

Definition at line 220 of file

def moveit_commander.robot.RobotCommander.get_joint (   self,
@param name str: Name of movegroup
@rtype: moveit_commander.robot.Joint
@raise exception: MoveItCommanderException

Definition at line 237 of file

def moveit_commander.robot.RobotCommander.get_joint_names (   self,
  group = None 
Get the names of all the movable joints that make up a group
(mimic joints and fixed joints are excluded). If no group name is
specified, all joints in the robot model are returned, including
fixed and mimic joints.

Definition at line 192 of file

def moveit_commander.robot.RobotCommander.get_link (   self,
@param name str: Name of movegroup
@rtype: moveit_commander.robot.Link
@raise exception: MoveItCommanderException

Definition at line 248 of file

def moveit_commander.robot.RobotCommander.get_link_names (   self,
  group = None 
Get the links that make up a group. If no group name is specified,
all the links in the robot model are returned.

Definition at line 207 of file

def moveit_commander.robot.RobotCommander.get_planning_frame (   self)
Get the frame of reference in which planning is done (and environment
is maintained)

Definition at line 155 of file

def moveit_commander.robot.RobotCommander.get_robot_markers (   self,
Get a MarkerArray of the markers that make up this robot

    (): get's all markers for current state
    state (RobotState): gets markers for a particular state
    values (dict): get markers with given values
    values, links (dict, list): get markers with given values and these links
    group (string):  get all markers for a group
    group, values (string, dict): get all markers for a group with desired values

Definition at line 162 of file

def moveit_commander.robot.RobotCommander.get_root_link (   self)
Get the name of the root link of the robot model 

Definition at line 188 of file

def moveit_commander.robot.RobotCommander.has_group (   self,
@param name str: Name of movegroup
@rtype: bool

Definition at line 270 of file

Member Data Documentation


Definition at line 152 of file


Definition at line 153 of file


Definition at line 150 of file


Definition at line 151 of file


Definition at line 149 of file

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

Author(s): Ioan Sucan
autogenerated on Sun Oct 18 2020 13:18:56