#include <moveit_cpp.h>

Classes
struct	Options
	Parameter container for initializing MoveItCpp. More...

struct	PlanningPipelineOptions
	struct contains the the variables used for loading the planning pipeline More...

struct	PlanningSceneMonitorOptions
	Specification of options to use when constructing the MoveItCpp class. More...

Public Member Functions
	MoveItCpp (const rclcpp::Node::SharedPtr &node, const std::shared_ptr< tf2_ros::Buffer > &)
	Constructor. More...

	MoveItCpp (const rclcpp::Node::SharedPtr &node)

	MoveItCpp (const rclcpp::Node::SharedPtr &node, const Options &options, const std::shared_ptr< tf2_ros::Buffer > &)

	MoveItCpp (const rclcpp::Node::SharedPtr &node, const Options &options)

	MoveItCpp (const MoveItCpp &)=delete
	This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required. More...

MoveItCpp &	operator= (const MoveItCpp &)=delete

	MoveItCpp (MoveItCpp &&other)=default

MoveItCpp &	operator= (MoveItCpp &&other)=default

	~MoveItCpp ()
	Destructor. More...

moveit::core::RobotModelConstPtr	getRobotModel () const
	Get the RobotModel object. More...

const rclcpp::Node::SharedPtr &	getNode () const
	Get the ROS node this instance operates on. More...

bool	getCurrentState (moveit::core::RobotStatePtr &current_state, double wait_seconds)
	Get the current state queried from the current state monitor. More...

moveit::core::RobotStatePtr	getCurrentState (double wait_seconds=0.0)
	Get the current state queried from the current state monitor. More...

const std::map< std::string, planning_pipeline::PlanningPipelinePtr > &	getPlanningPipelines () const
	Get all loaded planning pipeline instances mapped to their reference names. More...

std::set< std::string >	getPlanningPipelineNames (const std::string &group_name="") const
	Get the names of all loaded planning pipelines. Specify group_name to filter the results by planning group. More...

const planning_scene_monitor::PlanningSceneMonitorPtr &	getPlanningSceneMonitor () const
	Get the stored instance of the planning scene monitor. More...

planning_scene_monitor::PlanningSceneMonitorPtr	getPlanningSceneMonitorNonConst ()

const std::shared_ptr< tf2_ros::Buffer > &	getTFBuffer () const

const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	getTrajectoryExecutionManager () const
	Get the stored instance of the trajectory execution manager. More...

trajectory_execution_manager::TrajectoryExecutionManagerPtr	getTrajectoryExecutionManagerNonConst ()

moveit_controller_manager::ExecutionStatus	execute (const std::string &group_name, const robot_trajectory::RobotTrajectoryPtr &robot_trajectory, bool blocking=true)
	Execute a trajectory on the planning group specified by group_name using the trajectory execution manager. If blocking is set to false, the execution is run in background and the function returns immediately. More...

Detailed Description

Definition at line 54 of file moveit_cpp.h.

Constructor & Destructor Documentation

◆ MoveItCpp() [1/6]

moveit_cpp::MoveItCpp::MoveItCpp	(	const rclcpp::Node::SharedPtr &	node,
		const std::shared_ptr< tf2_ros::Buffer > &
	)

inline

Constructor.

Definition at line 111 of file moveit_cpp.h.

◆ MoveItCpp() [2/6]

moveit_cpp::MoveItCpp::MoveItCpp ( const rclcpp::Node::SharedPtr & node )

Definition at line 49 of file moveit_cpp.cpp.

◆ MoveItCpp() [3/6]

moveit_cpp::MoveItCpp::MoveItCpp	(	const rclcpp::Node::SharedPtr &	node,
		const Options &	options,
		const std::shared_ptr< tf2_ros::Buffer > &
	)

inline

Definition at line 117 of file moveit_cpp.h.

◆ MoveItCpp() [4/6]

moveit_cpp::MoveItCpp::MoveItCpp	(	const rclcpp::Node::SharedPtr &	node,
		const Options &	options
	)

Definition at line 53 of file moveit_cpp.cpp.

◆ MoveItCpp() [5/6]

moveit_cpp::MoveItCpp::MoveItCpp ( const MoveItCpp & )

delete

This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required.

◆ MoveItCpp() [6/6]

moveit_cpp::MoveItCpp::MoveItCpp ( MoveItCpp && other )

default

◆ ~MoveItCpp()

moveit_cpp::MoveItCpp::~MoveItCpp ( )

Destructor.

Definition at line 86 of file moveit_cpp.cpp.

Member Function Documentation

◆ execute()

moveit_controller_manager::ExecutionStatus moveit_cpp::MoveItCpp::execute	(	const std::string &	group_name,
		const robot_trajectory::RobotTrajectoryPtr &	robot_trajectory,
		bool	blocking = `true`
	)

Execute a trajectory on the planning group specified by group_name using the trajectory execution manager. If blocking is set to false, the execution is run in background and the function returns immediately.

Definition at line 248 of file moveit_cpp.cpp.

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◆ getCurrentState() [1/2]

moveit::core::RobotStatePtr moveit_cpp::MoveItCpp::getCurrentState ( double wait_seconds = 0.0 )

Get the current state queried from the current state monitor.

Parameters

wait_seconds the time in seconds for the state monitor to wait for a robot state.

Definition at line 203 of file moveit_cpp.cpp.

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◆ getCurrentState() [2/2]

bool moveit_cpp::MoveItCpp::getCurrentState	(	moveit::core::RobotStatePtr &	current_state,
		double	wait_seconds
	)

Get the current state queried from the current state monitor.

Parameters

wait_seconds the time in seconds for the state monitor to wait for a robot state.

Definition at line 189 of file moveit_cpp.cpp.

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◆ getNode()

const rclcpp::Node::SharedPtr & moveit_cpp::MoveItCpp::getNode ( ) const

Get the ROS node this instance operates on.

Definition at line 184 of file moveit_cpp.cpp.

◆ getPlanningPipelineNames()

std::set< std::string > moveit_cpp::MoveItCpp::getPlanningPipelineNames ( const std::string & group_name = "" ) const

Get the names of all loaded planning pipelines. Specify group_name to filter the results by planning group.

Definition at line 215 of file moveit_cpp.cpp.

◆ getPlanningPipelines()

const std::map< std::string, planning_pipeline::PlanningPipelinePtr > & moveit_cpp::MoveItCpp::getPlanningPipelines ( ) const

Get all loaded planning pipeline instances mapped to their reference names.

Definition at line 210 of file moveit_cpp.cpp.

◆ getPlanningSceneMonitor()

const planning_scene_monitor::PlanningSceneMonitorPtr & moveit_cpp::MoveItCpp::getPlanningSceneMonitor ( ) const

Get the stored instance of the planning scene monitor.

Definition at line 227 of file moveit_cpp.cpp.

◆ getPlanningSceneMonitorNonConst()

planning_scene_monitor::PlanningSceneMonitorPtr moveit_cpp::MoveItCpp::getPlanningSceneMonitorNonConst ( )

Definition at line 232 of file moveit_cpp.cpp.

◆ getRobotModel()

moveit::core::RobotModelConstPtr moveit_cpp::MoveItCpp::getRobotModel ( ) const

Get the RobotModel object.

Definition at line 179 of file moveit_cpp.cpp.

◆ getTFBuffer()

const std::shared_ptr< tf2_ros::Buffer > & moveit_cpp::MoveItCpp::getTFBuffer ( ) const

Definition at line 277 of file moveit_cpp.cpp.

◆ getTrajectoryExecutionManager()

const trajectory_execution_manager::TrajectoryExecutionManagerPtr & moveit_cpp::MoveItCpp::getTrajectoryExecutionManager ( ) const

Get the stored instance of the trajectory execution manager.

Definition at line 237 of file moveit_cpp.cpp.

◆ getTrajectoryExecutionManagerNonConst()

trajectory_execution_manager::TrajectoryExecutionManagerPtr moveit_cpp::MoveItCpp::getTrajectoryExecutionManagerNonConst ( )

Definition at line 242 of file moveit_cpp.cpp.

◆ operator=() [1/2]

MoveItCpp& moveit_cpp::MoveItCpp::operator= ( const MoveItCpp & )