moveit::core Namespace Reference

Namespaces
	collision_detection
	JointModelGroup
	kinematic_constraints
	planning_scene
	robot_model
	robot_state
	transforms

Classes
class	AABB
class	AttachedBody
class	CartesianInterpolator
struct	CartesianPrecision
class	FixedJointModel
class	FloatingJointModel
class	JointModel
class	JointModelGroup
struct	JumpThreshold
class	LinkModel
struct	MaxEEFStep
class	MoveItErrorCode
class	PlanarJointModel
class	PrismaticJointModel
class	RevoluteJointModel
class	RobotModel
class	RobotModelBuilder
class	RobotState
class	Transforms
struct	VariableBounds

Typedefs
typedef boost::function< void(AttachedBody *body, bool attached)>	AttachedBodyCallback
typedef std::map< std::string, Eigen::Isometry3d, std::less< std::string >, Eigen::aligned_allocator< std::pair< const std::string, Eigen::Isometry3d > > >	FixedTransformsMap
typedef boost::function< bool(RobotState *robot_state, const JointModelGroup *joint_group, const double *joint_group_variable_values)>	GroupStateValidityCallbackFn
typedef std::vector< const JointModel::Bounds * >	JointBoundsVector
typedef std::map< std::string, JointModelGroup * >	JointModelGroupMap
typedef std::map< std::string, const JointModelGroup * >	JointModelGroupMapConst
typedef std::map< std::string, JointModel * >	JointModelMap
typedef std::map< std::string, const JointModel * >	JointModelMapConst
typedef std::map< std::string, LinkModel * >	LinkModelMap
typedef std::map< std::string, const LinkModel * >	LinkModelMapConst
typedef std::map< const LinkModel *, Eigen::Isometry3d, std::less< const LinkModel * >, Eigen::aligned_allocator< std::pair< const LinkModel *const, Eigen::Isometry3d > > >	LinkTransformMap
typedef boost::function< kinematics::KinematicsBasePtr(const JointModelGroup *)>	SolverAllocatorFn
typedef std::map< const JointModelGroup *, SolverAllocatorFn >	SolverAllocatorMapFn
typedef std::map< std::string, VariableBounds >	VariableBoundsMap
typedef std::map< std::string, int >	VariableIndexMap

Functions
void	attachedBodiesToAttachedCollisionObjectMsgs (const std::vector< const AttachedBody * > &attached_bodies, std::vector< moveit_msgs::AttachedCollisionObject > &attached_collision_objs)
static void	checkInterpolationParamBounds (const char LOGNAME[], double t)
void	computeTurnDriveTurnGeometry (const double *from, const double *to, const double min_translational_distance, double &dx, double &dy, double &initial_turn, double &drive_angle, double &final_turn)
bool	haveSameAttachedObjects (const RobotState &left, const RobotState &right, const std::string &logprefix="")
bool	isArray (const XmlRpc::XmlRpcValue &v, size_t size=0, const std::string &name="", const std::string &description="")
bool	isEmpty (const geometry_msgs::Pose &msg)
bool	isEmpty (const geometry_msgs::Quaternion &msg)
bool	isEmpty (const moveit_msgs::Constraints &msg)
bool	isEmpty (const moveit_msgs::PlanningScene &msg)
bool	isEmpty (const moveit_msgs::PlanningSceneWorld &msg)
bool	isEmpty (const moveit_msgs::RobotState &msg)
bool	isStruct (const XmlRpc::XmlRpcValue &v, const std::vector< std::string > &keys={}, const std::string &name="")
bool	jointStateToRobotState (const sensor_msgs::JointState &joint_state, RobotState &state)
bool	jointTrajPointToRobotState (const trajectory_msgs::JointTrajectory &trajectory, std::size_t point_id, RobotState &state)
void	loadIKPluginForGroup (JointModelGroup *jmg, const std::string &base_link, const std::string &tip_link, std::string plugin="KDL", double timeout=0.1)
urdf::ModelInterfaceSharedPtr	loadModelInterface (const std::string &robot_name)
srdf::ModelSharedPtr	loadSRDFModel (const std::string &robot_name)
moveit::core::RobotModelPtr	loadTestingRobotModel (const std::string &robot_name)
	MOVEIT_CLASS_FORWARD (JointModelGroup)
	MOVEIT_CLASS_FORWARD (RobotModel)
	MOVEIT_CLASS_FORWARD (RobotState)
	MOVEIT_CLASS_FORWARD (Transforms)
std::ostream &	operator<< (std::ostream &out, const MoveItErrorCode &e)
std::ostream &	operator<< (std::ostream &out, const RobotState &s)
std::ostream &	operator<< (std::ostream &out, const VariableBounds &b)
double	parseDouble (const XmlRpc::XmlRpcValue &v)
bool	robotStateMsgToRobotState (const moveit_msgs::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
bool	robotStateMsgToRobotState (const Transforms &tf, const moveit_msgs::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
void	robotStateToJointStateMsg (const RobotState &state, sensor_msgs::JointState &joint_state)
void	robotStateToRobotStateMsg (const RobotState &state, moveit_msgs::RobotState &robot_state, bool copy_attached_bodies=true)
void	robotStateToStream (const RobotState &state, std::ostream &out, bool include_header=true, const std::string &separator=",")
void	robotStateToStream (const RobotState &state, std::ostream &out, const std::vector< std::string > &joint_groups_ordering, bool include_header=true, const std::string &separator=",")
void	streamToRobotState (RobotState &state, const std::string &line, const std::string &separator=",")
double	toDouble (const std::string &s)
float	toFloat (const std::string &s)
OutType	toRealImpl (const std::string &s)
std::string	toString (double d)
std::string	toString (float f)
std::string	toStringImpl (InType t)
bool	validateAndImproveInterval (const RobotState &start_state, const RobotState &end_state, const Eigen::Isometry3d &start_pose, const Eigen::Isometry3d &end_pose, std::vector< RobotStatePtr > &traj, double &percentage, const double width, const JointModelGroup *group, const LinkModel *link, const CartesianPrecision &precision, const GroupStateValidityCallbackFn &validCallback, const kinematics::KinematicsQueryOptions &options, const Eigen::Isometry3d &link_offset)

Variables
const std::string	LOGNAME
static const std::size_t	MIN_STEPS_FOR_JUMP_THRESH