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::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	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 88 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 93 of file move_group_interface.cpp.

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~MoveGroupInterfaceImpl()

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

inline

Definition at line 182 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 1003 of file move_group_interface.cpp.

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clearPathConstraints()

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

inline

Definition at line 1237 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 466 of file move_group_interface.cpp.

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clearPoseTargets()

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

inline

Definition at line 471 of file move_group_interface.cpp.

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clearTrajectoryConstraints()

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

inline

Definition at line 1247 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 950 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 1154 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 1096 of file move_group_interface.cpp.

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detachObject()

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

inline

Definition at line 1029 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 884 of file move_group_interface.cpp.

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getClock()

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

inline

Definition at line 1304 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 592 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 308 of file move_group_interface.cpp.

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getDefaultPlanningPipelineId()

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

inline

Definition at line 285 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 481 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 476 of file move_group_interface.cpp.

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getGoalJointTolerance()

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

inline

Definition at line 1065 of file move_group_interface.cpp.

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getGoalOrientationTolerance()

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

inline

Definition at line 1060 of file move_group_interface.cpp.

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getGoalPositionTolerance()

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

inline

Definition at line 1055 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 219 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 236 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 209 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 1252 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 214 of file move_group_interface.cpp.

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getOptions()

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

inline

Definition at line 199 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 1267 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 333 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 252 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 303 of file move_group_interface.cpp.

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getPlanningTime()

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

inline

Definition at line 1091 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 561 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 520 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 536 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 204 of file move_group_interface.cpp.

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getStartState()

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

inline

Definition at line 397 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 377 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 382 of file move_group_interface.cpp.

getTargetType()

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

inline

Definition at line 571 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 194 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 1275 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 514 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 1283 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 813 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 736 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 461 of file move_group_interface.cpp.

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setGoalJointTolerance()

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

inline

Definition at line 1070 of file move_group_interface.cpp.

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setGoalOrientationTolerance()

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

inline

Definition at line 1080 of file move_group_interface.cpp.

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setGoalPositionTolerance()

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

inline

Definition at line 1075 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 409 of file move_group_interface.cpp.

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setMaxAccelerationScalingFactor()

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

inline

Definition at line 348 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 353 of file move_group_interface.cpp.

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setMaxVelocityScalingFactor()

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

inline

Definition at line 343 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 338 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 1214 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 1219 of file move_group_interface.cpp.

setPlannerId()

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

inline

Definition at line 328 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 270 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 292 of file move_group_interface.cpp.

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setPlanningTime()

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

inline

Definition at line 1085 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 551 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 495 of file move_group_interface.cpp.

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setStartState()

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

inline

Definition at line 387 of file move_group_interface.cpp.

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setStartStateToCurrentState()

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

inline

Definition at line 392 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 556 of file move_group_interface.cpp.

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setTargetType()

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

inline

Definition at line 566 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 1242 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 1292 of file move_group_interface.cpp.

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startStateMonitor()

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

inline

Definition at line 576 of file move_group_interface.cpp.

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stop()

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

inline

Definition at line 993 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