C++ API

Class Hierarchy

• • Namespace joint_limits
    • Struct JointLimits
    • Struct SoftJointLimits
  • Namespace pilz_industrial_motion_planner
    • Namespace pilz_industrial_motion_planner::joint_limits_interface
      • Struct JointLimits
    • Struct CartesianTrajectory
    • Struct CartesianTrajectoryPoint
    • Struct TrajectoryBlendRequest
    • Struct TrajectoryBlendResponse
    • Class AggregationBoundsViolationException
    • Class AggregationException
    • Class CommandListManager
    • Class CommandPlanner
    • Class ContextLoaderRegistrationException
    • Class JointLimitsAggregator
    • Class JointLimitsContainer
    • Class JointLimitsValidator
    • Class LimitsContainer
    • Class MoveGroupSequenceAction
    • Class MoveGroupSequenceService
    • Class MoveItErrorCodeException
    • Class PathCircleGenerator
    • Class PlanComponentsBuilder
    • Template Class PlanningContextBase
    • Class PlanningContextCIRC
    • Class PlanningContextLIN
    • Class PlanningContextLoader
    • Class PlanningContextLoaderCIRC
    • Class PlanningContextLoaderLIN
    • Class PlanningContextLoaderPTP
    • Class PlanningContextPTP
    • Class PlanningException
    • Template Class TemplatedMoveItErrorCodeException
    • Class TrajectoryBlender
    • Class TrajectoryBlenderTransitionWindow
    • Class TrajectoryGenerator
      • Class TrajectoryGenerator::MotionPlanInfo
    • Class TrajectoryGeneratorCIRC
    • Class TrajectoryGeneratorLIN
    • Class TrajectoryGeneratorPTP
    • Class ValidationBoundsViolationException
    • Class ValidationDifferentLimitsException
    • Class ValidationException
    • Class ValidationJointMissingException
    • Class VelocityProfileATrap
  • Class AggregationJointMissingException
  • Class ErrorMotionPlanningCenterPointDifferentRadius
  • Class PlanningContextFactoryRegistrationException

File Hierarchy

• • Directory include
    • Directory joint_limits_copy
      • File joint_limits.hpp
      • File joint_limits_rosparam.hpp
    • Directory pilz_industrial_motion_planner
      • File capability_names.h
      • File cartesian_trajectory.h
      • File cartesian_trajectory_point.h
      • File command_list_manager.h
      • File joint_limits_aggregator.h
      • File joint_limits_container.h
      • File joint_limits_extension.h
      • File joint_limits_interface_extension.h
      • File joint_limits_validator.h
      • File limits_container.h
      • File move_group_sequence_action.h
      • File move_group_sequence_service.h
      • File path_circle_generator.h
      • File pilz_industrial_motion_planner.h
      • File plan_components_builder.h
      • File planning_context_base.h
      • File planning_context_circ.h
      • File planning_context_lin.h
      • File planning_context_loader.h
      • File planning_context_loader_circ.h
      • File planning_context_loader_lin.h
      • File planning_context_loader_ptp.h
      • File planning_context_ptp.h
      • File planning_exceptions.h
      • File tip_frame_getter.h
      • File trajectory_blend_request.h
      • File trajectory_blend_response.h
      • File trajectory_blender.h
      • File trajectory_blender_transition_window.h
      • File trajectory_functions.h
      • File trajectory_generation_exceptions.h
      • File trajectory_generator.h
      • File trajectory_generator_circ.h
      • File trajectory_generator_lin.h
      • File trajectory_generator_ptp.h
      • File velocity_profile_atrap.h

Full C++ API

Namespaces

• Namespace @1

• Namespace joint_limits

• Namespace KDL

• Namespace pilz_industrial_motion_planner

• Namespace pilz_industrial_motion_planner::joint_limits_interface

• Namespace planning_interface

• Namespace std

Classes and Structs

• Struct JointLimits

• Struct SoftJointLimits

• Struct CartesianTrajectory

• Struct CartesianTrajectoryPoint

• Struct JointLimits

• Struct TrajectoryBlendRequest

• Struct TrajectoryBlendResponse

• Class AggregationJointMissingException

• Class ErrorMotionPlanningCenterPointDifferentRadius

• Class AggregationBoundsViolationException

• Class AggregationException

• Class CommandListManager

• Class CommandPlanner

• Class ContextLoaderRegistrationException

• Class JointLimitsAggregator

• Class JointLimitsContainer

• Class JointLimitsValidator

• Class LimitsContainer

• Class MoveGroupSequenceAction

• Class MoveGroupSequenceService

• Class MoveItErrorCodeException

• Class PathCircleGenerator

• Class PlanComponentsBuilder

• Template Class PlanningContextBase

• Class PlanningContextCIRC

• Class PlanningContextLIN

• Class PlanningContextLoader

• Class PlanningContextLoaderCIRC

• Class PlanningContextLoaderLIN

• Class PlanningContextLoaderPTP

• Class PlanningContextPTP

• Class PlanningException

• Template Class TemplatedMoveItErrorCodeException

• Class TrajectoryBlender

• Class TrajectoryBlenderTransitionWindow

• Class TrajectoryGenerator

• Class TrajectoryGenerator::MotionPlanInfo

• Class TrajectoryGeneratorCIRC

• Class TrajectoryGeneratorLIN

• Class TrajectoryGeneratorPTP

• Class ValidationBoundsViolationException

• Class ValidationDifferentLimitsException

• Class ValidationException

• Class ValidationJointMissingException

• Class VelocityProfileATrap

• Class PlanningContextFactoryRegistrationException

Functions

• Function getConstraintPose(const geometry_msgs::msg::Point&, const geometry_msgs::msg::Quaternion&, const geometry_msgs::msg::Vector3&)

• Function getConstraintPose(const moveit_msgs::msg::Constraints&)

• Function joint_limits::declareParameters

• Function joint_limits::getJointLimits(const std::string&, const rclcpp::Node::SharedPtr&, const std::string&, JointLimits&)

• Function joint_limits::getJointLimits(const std::string&, const rclcpp::Node::SharedPtr&, const std::string&, SoftJointLimits&)

• Function normalizeQuaternion

• Function pilz_industrial_motion_planner::computeLinkFK(moveit::core::RobotState&, const std::string&, const std::map<std::string, double>&, Eigen::Isometry3d&)

• Function pilz_industrial_motion_planner::computeLinkFK(moveit::core::RobotState&, const std::string&, const std::vector<std::string>&, const std::vector<double>&, Eigen::Isometry3d&)

• Function pilz_industrial_motion_planner::computePoseIK(const planning_scene::PlanningSceneConstPtr&, const std::string&, const std::string&, const Eigen::Isometry3d&, const std::string&, const std::map<std::string, double>&, std::map<std::string, double>&, bool, const double)

• Function pilz_industrial_motion_planner::computePoseIK(const planning_scene::PlanningSceneConstPtr&, const std::string&, const std::string&, const geometry_msgs::msg::Pose&, const std::string&, const std::map<std::string, double>&, std::map<std::string, double>&, bool, const double)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NegativeBlendRadiusException, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LastBlendRadiusNotZeroException, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(StartStateSetException, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OverlappingBlendRadiiException, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PlanningPipelineException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoBlenderSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoTipFrameFunctionSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoRobotModelSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(BlendingFailedException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoSolverException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(MoreThanOneTipFrameException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(TrajectoryGeneratorInvalidLimitsException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(VelocityScalingIncorrect, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(AccelerationScalingIncorrect, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownPlanningGroup, moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoJointNamesInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(SizeMismatchInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointsOfStartStateOutOfRange, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NonZeroVelocityInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NotExactlyOneGoalConstraintGiven, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OnlyOneGoalTypeAllowed, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(StartStateGoalStateMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointConstraintDoesNotBelongToGroup, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointsOfGoalOutOfRange, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PositionConstraintNameMissing, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OrientationConstraintNameMissing, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PositionOrientationConstraintNameMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoIKSolverAvailable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPrimitivePoseGiven, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircleNoPlane, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircleToSmall, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CenterPointDifferentRadius, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircTrajectoryConversionFailure, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownPathConstraintName, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPositionConstraints, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPrimitivePose, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownLinkNameOfAuxiliaryPoint, moveit_msgs::msg::MoveItErrorCodes::INVALID_LINK_NAME)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NumberOfConstraintsMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinTrajectoryConversionFailure, moveit_msgs::msg::MoveItErrorCodes::FAILURE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointNumberMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PtpVelocityProfileSyncFailed, moveit_msgs::msg::MoveItErrorCodes::FAILURE)

• Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PtpNoIkSolutionForGoalPose, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)

• Function pilz_industrial_motion_planner::determineAndCheckSamplingTime

• Function pilz_industrial_motion_planner::generateJointTrajectory(const planning_scene::PlanningSceneConstPtr&, const JointLimitsContainer&, const KDL::Trajectory&, const std::string&, const std::string&, const std::map<std::string, double>&, double, trajectory_msgs::msg::JointTrajectory&, moveit_msgs::msg::MoveItErrorCodes&, bool)

• Function pilz_industrial_motion_planner::generateJointTrajectory(const planning_scene::PlanningSceneConstPtr&, const JointLimitsContainer&, const pilz_industrial_motion_planner::CartesianTrajectory&, const std::string&, const std::string&, const std::map<std::string, double>&, const std::map<std::string, double>&, trajectory_msgs::msg::JointTrajectory&, moveit_msgs::msg::MoveItErrorCodes&, bool)

• Template Function pilz_industrial_motion_planner::getSolverTipFrame

• Template Function pilz_industrial_motion_planner::hasSolver

• Function pilz_industrial_motion_planner::intersectionFound

• Function pilz_industrial_motion_planner::isRobotStateEqual

• Function pilz_industrial_motion_planner::isRobotStateStationary

• Function pilz_industrial_motion_planner::isStateColliding

• Function pilz_industrial_motion_planner::joint_limits_interface::declareParameters

• Function pilz_industrial_motion_planner::joint_limits_interface::getJointLimits

• Function pilz_industrial_motion_planner::linearSearchIntersectionPoint

• Function pilz_industrial_motion_planner::MOVEIT_CLASS_FORWARD(CommandPlanner)

• Function pilz_industrial_motion_planner::MOVEIT_CLASS_FORWARD(PlanningContext)

• Function pilz_industrial_motion_planner::operator<<

• Function pilz_industrial_motion_planner::verifySampleJointLimits

Variables

• Variable pilz_industrial_motion_planner::SEQUENCE_SERVICE_NAME

Defines

• Define CREATE_MOVEIT_ERROR_CODE_EXCEPTION

Typedefs

• Typedef pilz_industrial_motion_planner::JointLimit

• Typedef pilz_industrial_motion_planner::JointLimitsMap

• Typedef pilz_industrial_motion_planner::MoveGroupSequenceGoalHandle

• Typedef pilz_industrial_motion_planner::PlanningContextLoaderCIRCConstPtr

• Typedef pilz_industrial_motion_planner::PlanningContextLoaderCIRCPtr

• Typedef pilz_industrial_motion_planner::PlanningContextLoaderConstPtr

• Typedef pilz_industrial_motion_planner::PlanningContextLoaderLINConstPtr

• Typedef pilz_industrial_motion_planner::PlanningContextLoaderLINPtr

• Typedef pilz_industrial_motion_planner::PlanningContextLoaderPTPConstPtr

• Typedef pilz_industrial_motion_planner::PlanningContextLoaderPTPPtr

• Typedef pilz_industrial_motion_planner::PlanningContextLoaderPtr

• Typedef pilz_industrial_motion_planner::RobotTrajCont

• Typedef pilz_industrial_motion_planner::TipFrameFunc_t

• Typedef pilz_industrial_motion_planner::TrajectoryBlenderUniquePtr

Directories

• Directory include

• Directory joint_limits_copy

• Directory pilz_industrial_motion_planner

Files

• File capability_names.h

• File cartesian_trajectory.h

• File cartesian_trajectory_point.h

• File command_list_manager.h

• File joint_limits.hpp

• File joint_limits_aggregator.h

• File joint_limits_container.h

• File joint_limits_extension.h

• File joint_limits_interface_extension.h

• File joint_limits_rosparam.hpp

• File joint_limits_validator.h

• File limits_container.h

• File move_group_sequence_action.h

• File move_group_sequence_service.h

• File path_circle_generator.h

• File pilz_industrial_motion_planner.h

• File plan_components_builder.h

• File planning_context_base.h

• File planning_context_circ.h

• File planning_context_lin.h

• File planning_context_loader.h

• File planning_context_loader_circ.h

• File planning_context_loader_lin.h

• File planning_context_loader_ptp.h

• File planning_context_ptp.h

• File planning_exceptions.h

• File tip_frame_getter.h

• File trajectory_blend_request.h

• File trajectory_blend_response.h

• File trajectory_blender.h

• File trajectory_blender_transition_window.h

• File trajectory_functions.h

• File trajectory_generation_exceptions.h

• File trajectory_generator.h

• File trajectory_generator_circ.h

• File trajectory_generator_lin.h

• File trajectory_generator_ptp.h

• File velocity_profile_atrap.h