Public Member Functions | Private Member Functions | Private Attributes | List of all members
moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl Class Reference

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 ()
 
void clearTrajectoryConstraints ()
 
double computeCartesianPath (const std::vector< geometry_msgs::Pose > &waypoints, double step, double jump_threshold, moveit_msgs::RobotTrajectory &msg, const moveit_msgs::Constraints &path_constraints, bool avoid_collisions, moveit_msgs::MoveItErrorCodes &error_code)
 
void constructGoal (moveit_msgs::MoveGroupGoal &goal) const
 
void constructMotionPlanRequest (moveit_msgs::MotionPlanRequest &request) const
 
moveit_msgs::PickupGoal constructPickupGoal (const std::string &object, std::vector< moveit_msgs::Grasp > &&grasps, bool plan_only=false) const
 
moveit_msgs::PlaceGoal constructPlaceGoal (const std::string &object, std::vector< moveit_msgs::PlaceLocation > &&locations, bool plan_only=false) const
 
bool detachObject (const std::string &name)
 
MoveItErrorCode execute (const moveit_msgs::RobotTrajectory &trajectory, bool wait)
 
bool getCurrentState (moveit::core::RobotStatePtr &current_state, double wait_seconds=1.0)
 
std::string getDefaultPlannerId (const std::string &group) const
 
std::string getDefaultPlanningPipelineId () const
 
const std::stringgetEndEffector () const
 
const std::stringgetEndEffectorLink () const
 
double getGoalJointTolerance () const
 
double getGoalOrientationTolerance () const
 
double getGoalPositionTolerance () const
 
bool getInterfaceDescription (moveit_msgs::PlannerInterfaceDescription &desc)
 
bool getInterfaceDescriptions (std::vector< moveit_msgs::PlannerInterfaceDescription > &desc)
 
const moveit::core::JointModelGroupgetJointModelGroup () const
 
std::vector< std::stringgetKnownConstraints () const
 
actionlib::SimpleActionClient< moveit_msgs::MoveGroupAction > & getMoveGroupClient () const
 
const OptionsgetOptions () const
 
moveit_msgs::Constraints getPathConstraints () const
 
const std::stringgetPlannerId () const
 
std::map< std::string, std::stringgetPlannerParams (const std::string &planner_id, const std::string &group="")
 
const std::stringgetPlanningPipelineId () const
 
double getPlanningTime () const
 
const std::stringgetPoseReferenceFrame () 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 moveit::core::RobotModelConstPtr & getRobotModel () const
 
moveit::core::RobotStatePtr getStartState ()
 
moveit::core::RobotStategetTargetRobotState ()
 
const moveit::core::RobotStategetTargetRobotState () const
 
ActiveTargetType getTargetType () const
 
const std::shared_ptr< tf2_ros::Buffer > & getTF () const
 
moveit_msgs::TrajectoryConstraints getTrajectoryConstraints () const
 
bool hasPoseTarget (const std::string &end_effector_link) const
 
void initializeConstraintsStorage (const std::string &host, unsigned int port)
 
MoveItErrorCode move (bool wait)
 
 MoveGroupInterfaceImpl (const Options &opt, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer, const ros::WallDuration &wait_for_servers)
 
MoveItErrorCode pick (const moveit_msgs::PickupGoal &goal)
 
MoveItErrorCode place (const moveit_msgs::PlaceGoal &goal)
 
MoveItErrorCode plan (Plan &plan)
 
MoveItErrorCode planGraspsAndPick (const moveit_msgs::CollisionObject &object, bool plan_only=false)
 
MoveItErrorCode planGraspsAndPick (const std::string &object, bool plan_only=false)
 
std::vector< moveit_msgs::PlaceLocation > posesToPlaceLocations (const std::vector< geometry_msgs::PoseStamped > &poses) const
 Convert a vector of PoseStamped to a vector of PlaceLocation. More...
 
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 setMaxAccelerationScalingFactor (double value)
 
void setMaxScalingFactor (double &variable, const double target_value, const char *factor_name, double fallback_value)
 
void setMaxVelocityScalingFactor (double value)
 
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 setPlannerParams (const std::string &planner_id, const std::string &group, const std::map< std::string, std::string > &params, bool replace=false)
 
void setPlanningPipelineId (const std::string &pipeline_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 moveit::core::RobotState &start_state)
 
void setStartStateToCurrentState ()
 
void setSupportSurfaceName (const std::string &support_surface)
 
void setTargetType (ActiveTargetType type)
 
void setTrajectoryConstraints (const moveit_msgs::TrajectoryConstraints &constraint)
 
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 std::string &name, const ros::WallTime &timeout, double allotted_time) const
 
 ~MoveGroupInterfaceImpl ()
 

Private Member Functions

void initializeConstraintsStorageThread (const std::string &host, unsigned int port)
 

Private Attributes

ActiveTargetType active_target_
 
double allowed_planning_time_
 
ros::Publisher attached_object_publisher_
 
bool can_look_
 
bool can_replan_
 
ros::ServiceClient cartesian_path_service_
 
moveit::core::RobotStatePtr considered_start_state_
 
std::unique_ptr< boost::thread > constraints_init_thread_
 
std::unique_ptr< moveit_warehouse::ConstraintsStorageconstraints_storage_
 
planning_scene_monitor::CurrentStateMonitorPtr current_state_monitor_
 
std::string end_effector_link_
 
std::unique_ptr< actionlib::SimpleActionClient< moveit_msgs::ExecuteTrajectoryAction > > execute_action_client_
 
ros::ServiceClient get_params_service_
 
double goal_joint_tolerance_
 
double goal_orientation_tolerance_
 
double goal_position_tolerance_
 
bool initializing_constraints_
 
const moveit::core::JointModelGroupjoint_model_group_
 
moveit::core::RobotStatePtr joint_state_target_
 
double max_acceleration_scaling_factor_
 
double max_velocity_scaling_factor_
 
std::unique_ptr< actionlib::SimpleActionClient< moveit_msgs::MoveGroupAction > > move_action_client_
 
ros::NodeHandle node_handle_
 
unsigned int num_planning_attempts_
 
Options opt_
 
std::unique_ptr< moveit_msgs::Constraints > path_constraints_
 
std::unique_ptr< actionlib::SimpleActionClient< moveit_msgs::PickupAction > > pick_action_client_
 
std::unique_ptr< actionlib::SimpleActionClient< moveit_msgs::PlaceAction > > place_action_client_
 
ros::ServiceClient plan_grasps_service_
 
std::string planner_id_
 
std::string planning_pipeline_id_
 
std::string pose_reference_frame_
 
std::map< std::string, std::vector< geometry_msgs::PoseStamped > > pose_targets_
 
ros::ServiceClient query_service_
 
double replan_delay_
 
moveit::core::RobotModelConstPtr robot_model_
 
ros::ServiceClient set_params_service_
 
std::string support_surface_
 
std::shared_ptr< tf2_ros::Buffertf_buffer_
 
std::unique_ptr< moveit_msgs::TrajectoryConstraints > trajectory_constraints_
 
ros::Publisher trajectory_event_publisher_
 
moveit_msgs::WorkspaceParameters workspace_parameters_
 

Detailed Description

Definition at line 161 of file move_group_interface.cpp.

Constructor & Destructor Documentation

◆ MoveGroupInterfaceImpl()

moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::MoveGroupInterfaceImpl ( const Options opt,
const std::shared_ptr< tf2_ros::Buffer > &  tf_buffer,
const ros::WallDuration wait_for_servers 
)
inline

Definition at line 164 of file move_group_interface.cpp.

◆ ~MoveGroupInterfaceImpl()

moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::~MoveGroupInterfaceImpl ( )
inline

Definition at line 306 of file move_group_interface.cpp.

Member Function Documentation

◆ allowLooking()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::allowLooking ( bool  flag)
inline

Definition at line 1123 of file move_group_interface.cpp.

◆ allowReplanning()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::allowReplanning ( bool  flag)
inline

Definition at line 1129 of file move_group_interface.cpp.

◆ attachObject()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::attachObject ( const std::string object,
const std::string link,
const std::vector< std::string > &  touch_links 
)
inline

Definition at line 1032 of file move_group_interface.cpp.

◆ clearPathConstraints()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearPathConstraints ( )
inline

Definition at line 1285 of file move_group_interface.cpp.

◆ clearPoseTarget()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearPoseTarget ( const std::string end_effector_link)
inline

Definition at line 573 of file move_group_interface.cpp.

◆ clearPoseTargets()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearPoseTargets ( )
inline

Definition at line 578 of file move_group_interface.cpp.

◆ clearTrajectoryConstraints()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearTrajectoryConstraints ( )
inline

Definition at line 1295 of file move_group_interface.cpp.

◆ computeCartesianPath()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::computeCartesianPath ( const std::vector< geometry_msgs::Pose > &  waypoints,
double  step,
double  jump_threshold,
moveit_msgs::RobotTrajectory &  msg,
const moveit_msgs::Constraints &  path_constraints,
bool  avoid_collisions,
moveit_msgs::MoveItErrorCodes &  error_code 
)
inline

Definition at line 982 of file move_group_interface.cpp.

◆ constructGoal()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructGoal ( moveit_msgs::MoveGroupGoal &  goal) const
inline

Definition at line 1204 of file move_group_interface.cpp.

◆ constructMotionPlanRequest()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructMotionPlanRequest ( moveit_msgs::MotionPlanRequest request) const
inline

Definition at line 1146 of file move_group_interface.cpp.

◆ constructPickupGoal()

moveit_msgs::PickupGoal moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructPickupGoal ( const std::string object,
std::vector< moveit_msgs::Grasp > &&  grasps,
bool  plan_only = false 
) const
inline

Definition at line 1209 of file move_group_interface.cpp.

◆ constructPlaceGoal()

moveit_msgs::PlaceGoal moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructPlaceGoal ( const std::string object,
std::vector< moveit_msgs::PlaceLocation > &&  locations,
bool  plan_only = false 
) const
inline

Definition at line 1236 of file move_group_interface.cpp.

◆ detachObject()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::detachObject ( const std::string name)
inline

Definition at line 1058 of file move_group_interface.cpp.

◆ execute()

MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::execute ( const moveit_msgs::RobotTrajectory &  trajectory,
bool  wait 
)
inline

Definition at line 943 of file move_group_interface.cpp.

◆ getCurrentState()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getCurrentState ( moveit::core::RobotStatePtr &  current_state,
double  wait_seconds = 1.0 
)
inline

Definition at line 699 of file move_group_interface.cpp.

◆ getDefaultPlannerId()

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getDefaultPlannerId ( const std::string group) const
inline

Definition at line 417 of file move_group_interface.cpp.

◆ getDefaultPlanningPipelineId()

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getDefaultPlanningPipelineId ( ) const
inline

Definition at line 394 of file move_group_interface.cpp.

◆ getEndEffector()

const std::string& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getEndEffector ( ) const
inline

Definition at line 588 of file move_group_interface.cpp.

◆ getEndEffectorLink()

const std::string& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getEndEffectorLink ( ) const
inline

Definition at line 583 of file move_group_interface.cpp.

◆ getGoalJointTolerance()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getGoalJointTolerance ( ) const
inline

Definition at line 1092 of file move_group_interface.cpp.

◆ getGoalOrientationTolerance()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getGoalOrientationTolerance ( ) const
inline

Definition at line 1087 of file move_group_interface.cpp.

◆ getGoalPositionTolerance()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getGoalPositionTolerance ( ) const
inline

Definition at line 1082 of file move_group_interface.cpp.

◆ getInterfaceDescription()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getInterfaceDescription ( moveit_msgs::PlannerInterfaceDescription &  desc)
inline

Definition at line 337 of file move_group_interface.cpp.

◆ getInterfaceDescriptions()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getInterfaceDescriptions ( std::vector< moveit_msgs::PlannerInterfaceDescription > &  desc)
inline

Definition at line 350 of file move_group_interface.cpp.

◆ getJointModelGroup()

const moveit::core::JointModelGroup* moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getJointModelGroup ( ) const
inline

Definition at line 327 of file move_group_interface.cpp.

◆ getKnownConstraints()

std::vector<std::string> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getKnownConstraints ( ) const
inline

Definition at line 1300 of file move_group_interface.cpp.

◆ getMoveGroupClient()

actionlib::SimpleActionClient<moveit_msgs::MoveGroupAction>& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getMoveGroupClient ( ) const
inline

Definition at line 332 of file move_group_interface.cpp.

◆ getOptions()

const Options& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getOptions ( ) const
inline

Definition at line 317 of file move_group_interface.cpp.

◆ getPathConstraints()

moveit_msgs::Constraints moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPathConstraints ( ) const
inline

Definition at line 1315 of file move_group_interface.cpp.

◆ getPlannerId()

const std::string& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlannerId ( ) const
inline

Definition at line 442 of file move_group_interface.cpp.

◆ getPlannerParams()

std::map<std::string, std::string> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlannerParams ( const std::string planner_id,
const std::string group = "" 
)
inline

Definition at line 363 of file move_group_interface.cpp.

◆ getPlanningPipelineId()

const std::string& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlanningPipelineId ( ) const
inline

Definition at line 412 of file move_group_interface.cpp.

◆ getPlanningTime()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlanningTime ( ) const
inline

Definition at line 1118 of file move_group_interface.cpp.

◆ getPoseReferenceFrame()

const std::string& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPoseReferenceFrame ( ) const
inline

Definition at line 668 of file move_group_interface.cpp.

◆ getPoseTarget()

const geometry_msgs::PoseStamped& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPoseTarget ( const std::string end_effector_link) const
inline

Definition at line 627 of file move_group_interface.cpp.

◆ getPoseTargets()

const std::vector<geometry_msgs::PoseStamped>& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPoseTargets ( const std::string end_effector_link) const
inline

Definition at line 643 of file move_group_interface.cpp.

◆ getReplanningDelay()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getReplanningDelay ( ) const
inline

Definition at line 1141 of file move_group_interface.cpp.

◆ getRobotModel()

const moveit::core::RobotModelConstPtr& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getRobotModel ( ) const
inline

Definition at line 322 of file move_group_interface.cpp.

◆ getStartState()

moveit::core::RobotStatePtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getStartState ( )
inline

Definition at line 504 of file move_group_interface.cpp.

◆ getTargetRobotState() [1/2]

moveit::core::RobotState& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTargetRobotState ( )
inline

Definition at line 484 of file move_group_interface.cpp.

◆ getTargetRobotState() [2/2]

const moveit::core::RobotState& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTargetRobotState ( ) const
inline

Definition at line 489 of file move_group_interface.cpp.

◆ getTargetType()

ActiveTargetType moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTargetType ( ) const
inline

Definition at line 678 of file move_group_interface.cpp.

◆ getTF()

const std::shared_ptr<tf2_ros::Buffer>& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTF ( ) const
inline

Definition at line 312 of file move_group_interface.cpp.

◆ getTrajectoryConstraints()

moveit_msgs::TrajectoryConstraints moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTrajectoryConstraints ( ) const
inline

Definition at line 1323 of file move_group_interface.cpp.

◆ hasPoseTarget()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::hasPoseTarget ( const std::string end_effector_link) const
inline

Definition at line 621 of file move_group_interface.cpp.

◆ initializeConstraintsStorage()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::initializeConstraintsStorage ( const std::string host,
unsigned int  port 
)
inline

Definition at line 1331 of file move_group_interface.cpp.

◆ initializeConstraintsStorageThread()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::initializeConstraintsStorageThread ( const std::string host,
unsigned int  port 
)
inlineprivate

Definition at line 1353 of file move_group_interface.cpp.

◆ move()

MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::move ( bool  wait)
inline

Definition at line 898 of file move_group_interface.cpp.

◆ pick()

MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::pick ( const moveit_msgs::PickupGoal &  goal)
inline

Definition at line 778 of file move_group_interface.cpp.

◆ place()

MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::place ( const moveit_msgs::PlaceGoal &  goal)
inline

Definition at line 747 of file move_group_interface.cpp.

◆ plan()

MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::plan ( Plan plan)
inline

Definition at line 857 of file move_group_interface.cpp.

◆ planGraspsAndPick() [1/2]

MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::planGraspsAndPick ( const moveit_msgs::CollisionObject &  object,
bool  plan_only = false 
)
inline

Definition at line 828 of file move_group_interface.cpp.

◆ planGraspsAndPick() [2/2]

MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::planGraspsAndPick ( const std::string object,
bool  plan_only = false 
)
inline

Definition at line 808 of file move_group_interface.cpp.

◆ posesToPlaceLocations()

std::vector<moveit_msgs::PlaceLocation> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::posesToPlaceLocations ( const std::vector< geometry_msgs::PoseStamped > &  poses) const
inline

Convert a vector of PoseStamped to a vector of PlaceLocation.

Definition at line 723 of file move_group_interface.cpp.

◆ setEndEffectorLink()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setEndEffectorLink ( const std::string end_effector)
inline

Definition at line 568 of file move_group_interface.cpp.

◆ setGoalJointTolerance()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setGoalJointTolerance ( double  tolerance)
inline

Definition at line 1097 of file move_group_interface.cpp.

◆ setGoalOrientationTolerance()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setGoalOrientationTolerance ( double  tolerance)
inline

Definition at line 1107 of file move_group_interface.cpp.

◆ setGoalPositionTolerance()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setGoalPositionTolerance ( double  tolerance)
inline

Definition at line 1102 of file move_group_interface.cpp.

◆ setJointValueTarget()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setJointValueTarget ( const geometry_msgs::Pose eef_pose,
const std::string end_effector_link,
const std::string frame,
bool  approx 
)
inline

Definition at line 516 of file move_group_interface.cpp.

◆ setMaxAccelerationScalingFactor()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setMaxAccelerationScalingFactor ( double  value)
inline

Definition at line 457 of file move_group_interface.cpp.

◆ setMaxScalingFactor()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setMaxScalingFactor ( double &  variable,
const double  target_value,
const char *  factor_name,
double  fallback_value 
)
inline

Definition at line 462 of file move_group_interface.cpp.

◆ setMaxVelocityScalingFactor()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setMaxVelocityScalingFactor ( double  value)
inline

Definition at line 452 of file move_group_interface.cpp.

◆ setNumPlanningAttempts()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setNumPlanningAttempts ( unsigned int  num_planning_attempts)
inline

Definition at line 447 of file move_group_interface.cpp.

◆ setPathConstraints() [1/2]

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPathConstraints ( const moveit_msgs::Constraints &  constraint)
inline

Definition at line 1263 of file move_group_interface.cpp.

◆ setPathConstraints() [2/2]

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPathConstraints ( const std::string constraint)
inline

Definition at line 1268 of file move_group_interface.cpp.

◆ setPlannerId()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlannerId ( const std::string planner_id)
inline

Definition at line 437 of file move_group_interface.cpp.

◆ setPlannerParams()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlannerParams ( const std::string planner_id,
const std::string group,
const std::map< std::string, std::string > &  params,
bool  replace = false 
)
inline

Definition at line 378 of file move_group_interface.cpp.

◆ setPlanningPipelineId()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlanningPipelineId ( const std::string pipeline_id)
inline

Definition at line 401 of file move_group_interface.cpp.

◆ setPlanningTime()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlanningTime ( double  seconds)
inline

Definition at line 1112 of file move_group_interface.cpp.

◆ setPoseReferenceFrame()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPoseReferenceFrame ( const std::string pose_reference_frame)
inline

Definition at line 658 of file move_group_interface.cpp.

◆ setPoseTargets()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPoseTargets ( const std::vector< geometry_msgs::PoseStamped > &  poses,
const std::string end_effector_link 
)
inline

Definition at line 602 of file move_group_interface.cpp.

◆ setReplanningDelay()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setReplanningDelay ( double  delay)
inline

Definition at line 1135 of file move_group_interface.cpp.

◆ setStartState()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setStartState ( const moveit::core::RobotState start_state)
inline

Definition at line 494 of file move_group_interface.cpp.

◆ setStartStateToCurrentState()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setStartStateToCurrentState ( )
inline

Definition at line 499 of file move_group_interface.cpp.

◆ setSupportSurfaceName()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setSupportSurfaceName ( const std::string support_surface)
inline

Definition at line 663 of file move_group_interface.cpp.

◆ setTargetType()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setTargetType ( ActiveTargetType  type)
inline

Definition at line 673 of file move_group_interface.cpp.

◆ setTrajectoryConstraints()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setTrajectoryConstraints ( const moveit_msgs::TrajectoryConstraints &  constraint)
inline

Definition at line 1290 of file move_group_interface.cpp.

◆ setWorkspace()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setWorkspace ( double  minx,
double  miny,
double  minz,
double  maxx,
double  maxy,
double  maxz 
)
inline

Definition at line 1340 of file move_group_interface.cpp.

◆ startStateMonitor()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::startStateMonitor ( double  wait)
inline

Definition at line 683 of file move_group_interface.cpp.

◆ stop()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::stop ( )
inline

Definition at line 1022 of file move_group_interface.cpp.

◆ waitForAction()

template<typename T >
void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::waitForAction ( const T &  action,
const std::string name,
const ros::WallTime timeout,
double  allotted_time 
) const
inline

Definition at line 251 of file move_group_interface.cpp.

Member Data Documentation

◆ active_target_

ActiveTargetType moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::active_target_
private

Definition at line 1407 of file move_group_interface.cpp.

◆ allowed_planning_time_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::allowed_planning_time_
private

Definition at line 1385 of file move_group_interface.cpp.

◆ attached_object_publisher_

ros::Publisher moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::attached_object_publisher_
private

Definition at line 1416 of file move_group_interface.cpp.

◆ can_look_

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::can_look_
private

Definition at line 1394 of file move_group_interface.cpp.

◆ can_replan_

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::can_replan_
private

Definition at line 1395 of file move_group_interface.cpp.

◆ cartesian_path_service_

ros::ServiceClient moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::cartesian_path_service_
private

Definition at line 1420 of file move_group_interface.cpp.

◆ considered_start_state_

moveit::core::RobotStatePtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::considered_start_state_
private

Definition at line 1383 of file move_group_interface.cpp.

◆ constraints_init_thread_

std::unique_ptr<boost::thread> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constraints_init_thread_
private

Definition at line 1423 of file move_group_interface.cpp.

◆ constraints_storage_

std::unique_ptr<moveit_warehouse::ConstraintsStorage> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constraints_storage_
private

Definition at line 1422 of file move_group_interface.cpp.

◆ current_state_monitor_

planning_scene_monitor::CurrentStateMonitorPtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::current_state_monitor_
private

Definition at line 1376 of file move_group_interface.cpp.

◆ end_effector_link_

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::end_effector_link_
private

Definition at line 1410 of file move_group_interface.cpp.

◆ execute_action_client_

std::unique_ptr<actionlib::SimpleActionClient<moveit_msgs::ExecuteTrajectoryAction> > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::execute_action_client_
private

Definition at line 1378 of file move_group_interface.cpp.

◆ get_params_service_

ros::ServiceClient moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::get_params_service_
private

Definition at line 1418 of file move_group_interface.cpp.

◆ goal_joint_tolerance_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::goal_joint_tolerance_
private

Definition at line 1391 of file move_group_interface.cpp.

◆ goal_orientation_tolerance_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::goal_orientation_tolerance_
private

Definition at line 1393 of file move_group_interface.cpp.

◆ goal_position_tolerance_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::goal_position_tolerance_
private

Definition at line 1392 of file move_group_interface.cpp.

◆ initializing_constraints_

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::initializing_constraints_
private

Definition at line 1424 of file move_group_interface.cpp.

◆ joint_model_group_

const moveit::core::JointModelGroup* moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::joint_model_group_
private

Definition at line 1400 of file move_group_interface.cpp.

◆ joint_state_target_

moveit::core::RobotStatePtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::joint_state_target_
private

Definition at line 1399 of file move_group_interface.cpp.

◆ max_acceleration_scaling_factor_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::max_acceleration_scaling_factor_
private

Definition at line 1390 of file move_group_interface.cpp.

◆ max_velocity_scaling_factor_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::max_velocity_scaling_factor_
private

Definition at line 1389 of file move_group_interface.cpp.

◆ move_action_client_

std::unique_ptr<actionlib::SimpleActionClient<moveit_msgs::MoveGroupAction> > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::move_action_client_
private

Definition at line 1377 of file move_group_interface.cpp.

◆ node_handle_

ros::NodeHandle moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::node_handle_
private

Definition at line 1373 of file move_group_interface.cpp.

◆ num_planning_attempts_

unsigned int moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::num_planning_attempts_
private

Definition at line 1388 of file move_group_interface.cpp.

◆ opt_

Options moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::opt_
private

Definition at line 1372 of file move_group_interface.cpp.

◆ path_constraints_

std::unique_ptr<moveit_msgs::Constraints> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::path_constraints_
private

Definition at line 1408 of file move_group_interface.cpp.

◆ pick_action_client_

std::unique_ptr<actionlib::SimpleActionClient<moveit_msgs::PickupAction> > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::pick_action_client_
private

Definition at line 1379 of file move_group_interface.cpp.

◆ place_action_client_

std::unique_ptr<actionlib::SimpleActionClient<moveit_msgs::PlaceAction> > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::place_action_client_
private

Definition at line 1380 of file move_group_interface.cpp.

◆ plan_grasps_service_

ros::ServiceClient moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::plan_grasps_service_
private

Definition at line 1421 of file move_group_interface.cpp.

◆ planner_id_

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::planner_id_
private

Definition at line 1387 of file move_group_interface.cpp.

◆ planning_pipeline_id_

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::planning_pipeline_id_
private

Definition at line 1386 of file move_group_interface.cpp.

◆ pose_reference_frame_

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::pose_reference_frame_
private

Definition at line 1411 of file move_group_interface.cpp.

◆ pose_targets_

std::map<std::string, std::vector<geometry_msgs::PoseStamped> > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::pose_targets_
private

Definition at line 1404 of file move_group_interface.cpp.

◆ query_service_

ros::ServiceClient moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::query_service_
private

Definition at line 1417 of file move_group_interface.cpp.

◆ replan_delay_

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::replan_delay_
private

Definition at line 1396 of file move_group_interface.cpp.

◆ robot_model_

moveit::core::RobotModelConstPtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::robot_model_
private

Definition at line 1375 of file move_group_interface.cpp.

◆ set_params_service_

ros::ServiceClient moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::set_params_service_
private

Definition at line 1419 of file move_group_interface.cpp.

◆ support_surface_

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::support_surface_
private

Definition at line 1412 of file move_group_interface.cpp.

◆ tf_buffer_

std::shared_ptr<tf2_ros::Buffer> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::tf_buffer_
private

Definition at line 1374 of file move_group_interface.cpp.

◆ trajectory_constraints_

std::unique_ptr<moveit_msgs::TrajectoryConstraints> moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::trajectory_constraints_
private

Definition at line 1409 of file move_group_interface.cpp.

◆ trajectory_event_publisher_

ros::Publisher moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::trajectory_event_publisher_
private

Definition at line 1415 of file move_group_interface.cpp.

◆ workspace_parameters_

moveit_msgs::WorkspaceParameters moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::workspace_parameters_
private

Definition at line 1384 of file move_group_interface.cpp.


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


planning_interface
Author(s): Ioan Sucan
autogenerated on Sat Jun 12 2021 02:24:18