This namespace includes the central class for representing planning scenes. More...

Classes
class	PlanningScene
	This class maintains the representation of the environment as seen by a planning instance. The environment geometry, the robot geometry and state are maintained. More...

class	SceneTransforms

Typedefs
using	MotionFeasibilityFn = boost::function< bool(const moveit::core::RobotState &, const moveit::core::RobotState &, bool)>
	This is the function signature for additional feasibility checks to be imposed on motions segments between states (in addition to respecting constraints and collision avoidance). The order of the arguments matters: the notion of feasibility is to be checked for motion segments that start at the first state and end at the second state. The third argument indicates whether the check should be verbose or not. More...

using	ObjectColorMap = std::map< std::string, std_msgs::ColorRGBA >
	A map from object names (e.g., attached bodies, collision objects) to their colors. More...

using	ObjectTypeMap = std::map< std::string, object_recognition_msgs::ObjectType >
	A map from object names (e.g., attached bodies, collision objects) to their types. More...

typedef boost::function< bool(const moveit::core::RobotState &, bool)>	StateFeasibilityFn
	This is the function signature for additional feasibility checks to be imposed on states (in addition to respecting constraints and collision avoidance). The first argument is the state to check the feasibility for, the second one is whether the check should be verbose or not. More...

Functions
collision_detection::OccMapTreePtr	createOctomap (const octomap_msgs::Octomap &map)

	MOVEIT_CLASS_FORWARD (PlanningScene)

Variables
const std::string	LOGNAME = "planning_scene"

Detailed Description

This namespace includes the central class for representing planning scenes.

Format of .scene files

It is possible to read/write a PlanningScene's collision objects from a simple text file (.scene). The file format is defined as follows:

  <FILE>:
      <ID>  # scene id
      <OBJECT_DESCRIPTION>*
      . # single dot indicates end of file

  <OBJECT_DESCRIPTION>:
      * <ID>  # object id
      <POSE>   # object pose
      <NUMBER> # number of shapes in object
      <SHAPE_DESCRIPTION>*
      <NUMBER> # number of sub frames
      <SUBFRAME_DESCRIPTION>*

  <SHAPE_DESCRIPTION>:
      <BOX> | <CONE> | <CYLINDER> | <SPHERE> | <PLANE> | <MESH>
      <POSE>   # shape pose w.r.t. object's pose
      <COLOR>  # common color for all shapes

  <SUBFRAME_DESCRIPTION>:
      <ID>  # sub frame id
      <POSE>

  <BOX>:
      box
      <FLOAT> <FLOAT> <FLOAT>  # box dimensions: x y z

  <CONE>:
      cone
      <FLOAT> <FLOAT>  # radius height

  <CYLINDER>:
      cylinder
      <FLOAT> <FLOAT>  # radius height

  <SPHERE>:
      sphere
      <FLOAT>  # radius

  <PLANE>:
      plane
      <FLOAT> <FLOAT> <FLOAT> <FLOAT>  # plane parameters: a b c d for a*x + b*y +c*z = d

  <ID>: any text

  <POSE>:
      <FLOAT> <FLOAT> <FLOAT>  # position: x y z
      <FLOAT> <FLOAT> <FLOAT> <FLOAT>  # quaternion: x y z w

  <COLOR>:
      <FLOAT> <FLOAT> <FLOAT> <FLOAT>  # R G B A

Here is an example:

My PlanningScene
* object
0 1.0 0
0 0 0 1
2
box
0.1 0.2 0.3
0 1.0 0
0 0 0 1
1 0 0 0.5
cylinder
0.1 0.5
0.5 0 0
0 0 0 1
0 0 1 0.5
0
.

Typedef Documentation

◆ MotionFeasibilityFn

using planning_scene::MotionFeasibilityFn = typedef boost::function<bool(const moveit::core::RobotState&, const moveit::core::RobotState&, bool)>

This is the function signature for additional feasibility checks to be imposed on motions segments between states (in addition to respecting constraints and collision avoidance). The order of the arguments matters: the notion of feasibility is to be checked for motion segments that start at the first state and end at the second state. The third argument indicates whether the check should be verbose or not.

Definition at line 191 of file planning_scene.h.

◆ ObjectColorMap

using planning_scene::ObjectColorMap = typedef std::map<std::string, std_msgs::ColorRGBA>

A map from object names (e.g., attached bodies, collision objects) to their colors.

Definition at line 194 of file planning_scene.h.

◆ ObjectTypeMap

using planning_scene::ObjectTypeMap = typedef std::map<std::string, object_recognition_msgs::ObjectType>

A map from object names (e.g., attached bodies, collision objects) to their types.

Definition at line 197 of file planning_scene.h.

◆ StateFeasibilityFn

typedef boost::function<bool(const moveit::core::RobotState&, bool)> planning_scene::StateFeasibilityFn

This is the function signature for additional feasibility checks to be imposed on states (in addition to respecting constraints and collision avoidance). The first argument is the state to check the feasibility for, the second one is whether the check should be verbose or not.

Definition at line 183 of file planning_scene.h.

Function Documentation

◆ createOctomap()

collision_detection::OccMapTreePtr planning_scene::createOctomap ( const octomap_msgs::Octomap & map )

Definition at line 1396 of file planning_scene.cpp.

◆ MOVEIT_CLASS_FORWARD()

planning_scene::MOVEIT_CLASS_FORWARD ( PlanningScene )

Variable Documentation

◆ LOGNAME

const std::string planning_scene::LOGNAME = "planning_scene"

Definition at line 90 of file planning_scene.cpp.

Classes

Typedefs

Functions

Variables