moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl Class Reference

Public Member Functions
	MoveGroupInterfaceImpl (const rclcpp::Node::SharedPtr &node, const Options &opt, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer, const rclcpp::Duration &wait_for_servers)
	~MoveGroupInterfaceImpl ()
const std::shared_ptr< tf2_ros::Buffer > &	getTF () const
const Options &	getOptions () const
const moveit::core::RobotModelConstPtr &	getRobotModel () const
const moveit::core::JointModelGroup *	getJointModelGroup () const
rclcpp_action::Client< moveit_msgs::action::MoveGroup > &	getMoveGroupClient () const
bool	getInterfaceDescription (moveit_msgs::msg::PlannerInterfaceDescription &desc)
bool	getInterfaceDescriptions (std::vector< moveit_msgs::msg::PlannerInterfaceDescription > &desc)
std::map< std::string, std::string >	getPlannerParams (const std::string &planner_id, const std::string &group="")
void	setPlannerParams (const std::string &planner_id, const std::string &group, const std::map< std::string, std::string > &params, bool replace=false)
std::string	getDefaultPlanningPipelineId () const
void	setPlanningPipelineId (const std::string &pipeline_id)
const std::string &	getPlanningPipelineId () const
std::string	getDefaultPlannerId (const std::string &group) const
void	setPlannerId (const std::string &planner_id)
const std::string &	getPlannerId () const
void	setNumPlanningAttempts (unsigned int num_planning_attempts)
void	setMaxVelocityScalingFactor (double value)
void	setMaxAccelerationScalingFactor (double value)
void	setMaxScalingFactor (double &variable, const double target_value, const char *factor_name, double fallback_value)
moveit::core::RobotState &	getTargetRobotState ()
const moveit::core::RobotState &	getTargetRobotState () const
void	setStartState (const moveit_msgs::msg::RobotState &start_state)
void	setStartState (const moveit::core::RobotState &start_state)
void	setStartStateToCurrentState ()
moveit::core::RobotStatePtr	getStartState ()
bool	setJointValueTarget (const geometry_msgs::msg::Pose &eef_pose, const std::string &end_effector_link, const std::string &frame, bool approx)
void	setEndEffectorLink (const std::string &end_effector)
void	clearPoseTarget (const std::string &end_effector_link)
void	clearPoseTargets ()
const std::string &	getEndEffectorLink () const
const std::string &	getEndEffector () const
bool	setPoseTargets (const std::vector< geometry_msgs::msg::PoseStamped > &poses, const std::string &end_effector_link)
bool	hasPoseTarget (const std::string &end_effector_link) const
const geometry_msgs::msg::PoseStamped &	getPoseTarget (const std::string &end_effector_link) const
const std::vector< geometry_msgs::msg::PoseStamped > &	getPoseTargets (const std::string &end_effector_link) const
void	setPoseReferenceFrame (const std::string &pose_reference_frame)
void	setSupportSurfaceName (const std::string &support_surface)
const std::string &	getPoseReferenceFrame () const
void	setTargetType (ActiveTargetType type)
ActiveTargetType	getTargetType () const
bool	startStateMonitor (double wait)
bool	getCurrentState (moveit::core::RobotStatePtr &current_state, double wait_seconds=1.0)
moveit::core::MoveItErrorCode	plan (Plan &plan)
	Convert a vector of PoseStamped to a vector of PlaceLocation. More...
moveit::core::MoveItErrorCode	move (bool wait)
moveit::core::MoveItErrorCode	execute (const moveit_msgs::msg::RobotTrajectory &trajectory, bool wait)
double	computeCartesianPath (const std::vector< geometry_msgs::msg::Pose > &waypoints, double step, double jump_threshold, moveit_msgs::msg::RobotTrajectory &msg, const moveit_msgs::msg::Constraints &path_constraints, bool avoid_collisions, moveit_msgs::msg::MoveItErrorCodes &error_code)
void	stop ()
bool	attachObject (const std::string &object, const std::string &link, const std::vector< std::string > &touch_links)
bool	detachObject (const std::string &name)
double	getGoalPositionTolerance () const
double	getGoalOrientationTolerance () const
double	getGoalJointTolerance () const
void	setGoalJointTolerance (double tolerance)
void	setGoalPositionTolerance (double tolerance)
void	setGoalOrientationTolerance (double tolerance)
void	setPlanningTime (double seconds)
double	getPlanningTime () const
void	constructRobotState (moveit_msgs::msg::RobotState &state) const
void	constructMotionPlanRequest (moveit_msgs::msg::MotionPlanRequest &request) const
void	constructGoal (moveit_msgs::action::MoveGroup::Goal &goal) const
void	setPathConstraints (const moveit_msgs::msg::Constraints &constraint)
bool	setPathConstraints (const std::string &constraint)
void	clearPathConstraints ()
void	setTrajectoryConstraints (const moveit_msgs::msg::TrajectoryConstraints &constraint)
void	clearTrajectoryConstraints ()
std::vector< std::string >	getKnownConstraints () const
moveit_msgs::msg::Constraints	getPathConstraints () const
moveit_msgs::msg::TrajectoryConstraints	getTrajectoryConstraints () const
void	initializeConstraintsStorage (const std::string &host, unsigned int port)
void	setWorkspace (double minx, double miny, double minz, double maxx, double maxy, double maxz)
rclcpp::Clock::SharedPtr	getClock ()

Detailed Description

Definition at line 93 of file move_group_interface.cpp.

Constructor & Destructor Documentation

MoveGroupInterfaceImpl()

moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::MoveGroupInterfaceImpl ( const rclcpp::Node::SharedPtr &  node, const Options &  opt, const std::shared_ptr< tf2_ros::Buffer > &  tf_buffer, const rclcpp::Duration &  wait_for_servers  )

inline

Definition at line 98 of file move_group_interface.cpp.

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~MoveGroupInterfaceImpl()

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

inline

Definition at line 188 of file move_group_interface.cpp.

Member Function Documentation

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 1009 of file move_group_interface.cpp.

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clearPathConstraints()

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

inline

Definition at line 1244 of file move_group_interface.cpp.

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clearPoseTarget()

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

inline

Definition at line 476 of file move_group_interface.cpp.

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clearPoseTargets()

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

inline

Definition at line 481 of file move_group_interface.cpp.

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clearTrajectoryConstraints()

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

inline

Definition at line 1254 of file move_group_interface.cpp.

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computeCartesianPath()

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

inline

Definition at line 960 of file move_group_interface.cpp.

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constructGoal()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructGoal ( moveit_msgs::action::MoveGroup::Goal &  goal ) const

inline

Definition at line 1161 of file move_group_interface.cpp.

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constructMotionPlanRequest()

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

inline

Definition at line 1107 of file move_group_interface.cpp.

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constructRobotState()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructRobotState ( moveit_msgs::msg::RobotState &  state ) const

inline

Definition at line 1102 of file move_group_interface.cpp.

detachObject()

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

inline

Definition at line 1035 of file move_group_interface.cpp.

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execute()

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

inline

Definition at line 894 of file move_group_interface.cpp.

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getClock()

rclcpp::Clock::SharedPtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getClock ( )

inline

Definition at line 1311 of file move_group_interface.cpp.

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getCurrentState()

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

inline

Definition at line 602 of file move_group_interface.cpp.

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getDefaultPlannerId()

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

inline

Definition at line 314 of file move_group_interface.cpp.

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getDefaultPlanningPipelineId()

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

inline

Definition at line 291 of file move_group_interface.cpp.

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getEndEffector()

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

inline

Definition at line 491 of file move_group_interface.cpp.

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getEndEffectorLink()

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

inline

Definition at line 486 of file move_group_interface.cpp.

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getGoalJointTolerance()

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

inline

Definition at line 1071 of file move_group_interface.cpp.

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getGoalOrientationTolerance()

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

inline

Definition at line 1066 of file move_group_interface.cpp.

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getGoalPositionTolerance()

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

inline

Definition at line 1061 of file move_group_interface.cpp.

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getInterfaceDescription()

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

inline

Definition at line 225 of file move_group_interface.cpp.

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getInterfaceDescriptions()

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

inline

Definition at line 242 of file move_group_interface.cpp.

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getJointModelGroup()

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

inline

Definition at line 215 of file move_group_interface.cpp.

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getKnownConstraints()

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

inline

Definition at line 1259 of file move_group_interface.cpp.

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getMoveGroupClient()

rclcpp_action::Client<moveit_msgs::action::MoveGroup>& moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getMoveGroupClient ( ) const

inline

Definition at line 220 of file move_group_interface.cpp.

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getOptions()

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

inline

Definition at line 205 of file move_group_interface.cpp.

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getPathConstraints()

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

inline

Definition at line 1274 of file move_group_interface.cpp.

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getPlannerId()

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

inline

Definition at line 339 of file move_group_interface.cpp.

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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 258 of file move_group_interface.cpp.

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getPlanningPipelineId()

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

inline

Definition at line 309 of file move_group_interface.cpp.

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getPlanningTime()

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

inline

Definition at line 1097 of file move_group_interface.cpp.

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getPoseReferenceFrame()

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

inline

Definition at line 571 of file move_group_interface.cpp.

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getPoseTarget()

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

inline

Definition at line 530 of file move_group_interface.cpp.

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getPoseTargets()

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

inline

Definition at line 546 of file move_group_interface.cpp.

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getRobotModel()

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

inline

Definition at line 210 of file move_group_interface.cpp.

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getStartState()

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

inline

Definition at line 411 of file move_group_interface.cpp.

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getTargetRobotState() [1/2]

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

inline

Definition at line 383 of file move_group_interface.cpp.

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getTargetRobotState() [2/2]

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

inline

Definition at line 388 of file move_group_interface.cpp.

getTargetType()

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

inline

Definition at line 581 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 200 of file move_group_interface.cpp.

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getTrajectoryConstraints()

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

inline

Definition at line 1282 of file move_group_interface.cpp.

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hasPoseTarget()

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

inline

Definition at line 524 of file move_group_interface.cpp.

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initializeConstraintsStorage()

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

inline

Definition at line 1290 of file move_group_interface.cpp.

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move()

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

inline

Definition at line 823 of file move_group_interface.cpp.

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plan()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::plan ( Plan &  plan )

inline

Convert a vector of PoseStamped to a vector of PlaceLocation.

Definition at line 746 of file move_group_interface.cpp.

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setEndEffectorLink()

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

inline

Definition at line 471 of file move_group_interface.cpp.

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setGoalJointTolerance()

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

inline

Definition at line 1076 of file move_group_interface.cpp.

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setGoalOrientationTolerance()

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

inline

Definition at line 1086 of file move_group_interface.cpp.

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setGoalPositionTolerance()

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

inline

Definition at line 1081 of file move_group_interface.cpp.

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setJointValueTarget()

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

inline

Definition at line 419 of file move_group_interface.cpp.

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setMaxAccelerationScalingFactor()

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

inline

Definition at line 354 of file move_group_interface.cpp.

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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 359 of file move_group_interface.cpp.

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setMaxVelocityScalingFactor()

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

inline

Definition at line 349 of file move_group_interface.cpp.

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setNumPlanningAttempts()

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

inline

Definition at line 344 of file move_group_interface.cpp.

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setPathConstraints() [1/2]

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

inline

Definition at line 1221 of file move_group_interface.cpp.

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setPathConstraints() [2/2]

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

inline

Definition at line 1226 of file move_group_interface.cpp.

setPlannerId()

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

inline

Definition at line 334 of file move_group_interface.cpp.

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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 276 of file move_group_interface.cpp.

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setPlanningPipelineId()

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

inline

Definition at line 298 of file move_group_interface.cpp.

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setPlanningTime()

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

inline

Definition at line 1091 of file move_group_interface.cpp.

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setPoseReferenceFrame()

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

inline

Definition at line 561 of file move_group_interface.cpp.

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setPoseTargets()

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

inline

Definition at line 505 of file move_group_interface.cpp.

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setStartState() [1/2]

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

inline

Definition at line 398 of file move_group_interface.cpp.

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setStartState() [2/2]

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setStartState ( const moveit_msgs::msg::RobotState &  start_state )

inline

Definition at line 393 of file move_group_interface.cpp.

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setStartStateToCurrentState()

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

inline

Definition at line 404 of file move_group_interface.cpp.

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setSupportSurfaceName()

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

inline

Definition at line 566 of file move_group_interface.cpp.

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setTargetType()

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

inline

Definition at line 576 of file move_group_interface.cpp.

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setTrajectoryConstraints()

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

inline

Definition at line 1249 of file move_group_interface.cpp.

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setWorkspace()

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

inline

Definition at line 1299 of file move_group_interface.cpp.

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startStateMonitor()

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

inline

Definition at line 586 of file move_group_interface.cpp.

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stop()

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

inline

Definition at line 999 of file move_group_interface.cpp.

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

• moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp