Class MoveGroupCapability

• Defined in File move_group_capability.hpp

Class Documentation

class MoveGroupCapability

Public Functions

inline explicit MoveGroupCapability(const std::string &capability_name)

inline virtual ~MoveGroupCapability()

void setContext(const MoveGroupContextPtr &context)

virtual void initialize() = 0

inline const std::string &getName() const

Protected Functions

std::string getActionResultString(const moveit_msgs::msg::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only)

std::string stateToStr(MoveGroupState state) const

void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory> &trajectory, moveit_msgs::msg::RobotState &first_state_msg, std::vector<moveit_msgs::msg::RobotTrajectory> &trajectory_msg) const

void convertToMsg(const robot_trajectory::RobotTrajectoryPtr &trajectory, moveit_msgs::msg::RobotState &first_state_msg, moveit_msgs::msg::RobotTrajectory &trajectory_msg) const

void convertToMsg(const std::vector<plan_execution::ExecutableTrajectory> &trajectory, moveit_msgs::msg::RobotState &first_state_msg, moveit_msgs::msg::RobotTrajectory &trajectory_msg) const

planning_interface::MotionPlanRequest clearRequestStartState(const planning_interface::MotionPlanRequest &request) const

moveit_msgs::msg::PlanningScene clearSceneRobotState(const moveit_msgs::msg::PlanningScene &scene) const

bool performTransform(geometry_msgs::msg::PoseStamped &pose_msg, const std::string &target_frame) const

planning_pipeline::PlanningPipelinePtr resolvePlanningPipeline(const std::string &pipeline_id) const

Protected Attributes

std::string capability_name_

MoveGroupContextPtr context_