#include <planning_component.h>

Classes
struct	PlanRequestParameters
	Planner parameters provided with the MotionPlanRequest. More...

struct	PlanSolution
	The representation of a plan solution. More...

Public Types
using	MoveItErrorCode = moveit::core::MoveItErrorCode

Public Member Functions
	MOVEIT_STRUCT_FORWARD (PlanSolution)

	PlanningComponent (const std::string &group_name, const rclcpp::Node::SharedPtr &node)
	Constructor. More...

	PlanningComponent (const std::string &group_name, const MoveItCppPtr &moveit_cpp)

	PlanningComponent (const PlanningComponent &)=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...

PlanningComponent &	operator= (const PlanningComponent &)=delete

	PlanningComponent (PlanningComponent &&other)=delete

PlanningComponent &	operator= (PlanningComponent &&other)=delete

	~PlanningComponent ()=default
	Destructor. More...

const std::string &	getPlanningGroupName () const
	Get the name of the planning group. More...

const std::vector< std::string >	getNamedTargetStates ()
	Get the names of the named robot states available as targets. More...

std::map< std::string, double >	getNamedTargetStateValues (const std::string &name)
	Get the joint values for targets specified by name. More...

void	setWorkspace (double minx, double miny, double minz, double maxx, double maxy, double maxz)
	Specify the workspace bounding box. The box is specified in the planning frame (i.e. relative to the robot root link start position). This is useful when the planning group contains the root joint of the robot – i.e. when planning motion for the robot relative to the world. More...

void	unsetWorkspace ()
	Remove the workspace bounding box from planning. More...

moveit::core::RobotStatePtr	getStartState ()
	Get the considered start state if defined, otherwise get the current state. More...

bool	setStartState (const moveit::core::RobotState &start_state)
	Set the robot state that should be considered as start state for planning. More...

bool	setStartState (const std::string &named_state)
	Set the named robot state that should be considered as start state for planning. More...

void	setStartStateToCurrentState ()
	Set the start state for planning to be the current state of the robot. More...

bool	setGoal (const std::vector< moveit_msgs::msg::Constraints > &goal_constraints)
	Set the goal constraints used for planning. More...

bool	setGoal (const moveit::core::RobotState &goal_state)
	Set the goal constraints generated from a target state. More...

bool	setGoal (const geometry_msgs::msg::PoseStamped &goal_pose, const std::string &link_name)
	Set the goal constraints generated from target pose and robot link. More...

bool	setGoal (const std::string &named_target)
	Set the goal constraints generated from a named target state. More...

bool	setPathConstraints (const moveit_msgs::msg::Constraints &path_constraints)
	Set the path constraints generated from a moveit msg Constraints. More...

PlanSolution	plan ()
	Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using default parameters. More...

PlanSolution	plan (const PlanRequestParameters &parameters)
	Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using the provided PlanRequestParameters. More...

bool	execute (bool blocking=true)
	Execute the latest computed solution trajectory computed by plan(). By default this function terminates after the execution is complete. The execution can be run in background by setting blocking to false. More...

const PlanSolutionPtr	getLastPlanSolution ()
	Return the last plan solution. More...

Detailed Description

Definition at line 51 of file planning_component.h.

Member Typedef Documentation

◆ MoveItErrorCode

using moveit_cpp::PlanningComponent::MoveItErrorCode = moveit::core::MoveItErrorCode

Definition at line 56 of file planning_component.h.

Constructor & Destructor Documentation

◆ PlanningComponent() [1/4]

moveit_cpp::PlanningComponent::PlanningComponent	(	const std::string &	group_name,
		const rclcpp::Node::SharedPtr &	node
	)

Constructor.

Definition at line 71 of file planning_component.cpp.

◆ PlanningComponent() [2/4]

moveit_cpp::PlanningComponent::PlanningComponent	(	const std::string &	group_name,
		const MoveItCppPtr &	moveit_cpp
	)

Definition at line 49 of file planning_component.cpp.

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◆ PlanningComponent() [3/4]

moveit_cpp::PlanningComponent::PlanningComponent ( const PlanningComponent & )

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.

◆ PlanningComponent() [4/4]

moveit_cpp::PlanningComponent::PlanningComponent ( PlanningComponent && other )

delete

◆ ~PlanningComponent()

moveit_cpp::PlanningComponent::~PlanningComponent ( )

default

Destructor.

Member Function Documentation

◆ execute()

bool moveit_cpp::PlanningComponent::execute ( bool blocking = true )

Execute the latest computed solution trajectory computed by plan(). By default this function terminates after the execution is complete. The execution can be run in background by setting blocking to false.

Definition at line 293 of file planning_component.cpp.

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◆ getLastPlanSolution()

const PlanningComponent::PlanSolutionPtr moveit_cpp::PlanningComponent::getLastPlanSolution ( )

Return the last plan solution.

Definition at line 312 of file planning_component.cpp.

◆ getNamedTargetStates()

const std::vector< std::string > moveit_cpp::PlanningComponent::getNamedTargetStates ( )

Get the names of the named robot states available as targets.

Definition at line 84 of file planning_component.cpp.

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◆ getNamedTargetStateValues()

std::map< std::string, double > moveit_cpp::PlanningComponent::getNamedTargetStateValues ( const std::string & name )

Get the joint values for targets specified by name.

Definition at line 236 of file planning_component.cpp.

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◆ getPlanningGroupName()

const std::string & moveit_cpp::PlanningComponent::getPlanningGroupName ( ) const

Get the name of the planning group.

Definition at line 99 of file planning_component.cpp.

◆ getStartState()

moveit::core::RobotStatePtr moveit_cpp::PlanningComponent::getStartState ( )

Get the considered start state if defined, otherwise get the current state.

Definition at line 206 of file planning_component.cpp.

◆ MOVEIT_STRUCT_FORWARD()

moveit_cpp::PlanningComponent::MOVEIT_STRUCT_FORWARD ( PlanSolution )

◆ operator=() [1/2]

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

delete

◆ operator=() [2/2]

PlanningComponent& moveit_cpp::PlanningComponent::operator= ( PlanningComponent && other )

delete

◆ plan() [1/2]

PlanningComponent::PlanSolution moveit_cpp::PlanningComponent::plan ( )

Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using default parameters.

Definition at line 195 of file planning_component.cpp.

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◆ plan() [2/2]

PlanningComponent::PlanSolution moveit_cpp::PlanningComponent::plan ( const PlanRequestParameters & parameters )

Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using the provided PlanRequestParameters.

Definition at line 110 of file planning_component.cpp.

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◆ setGoal() [1/4]

bool moveit_cpp::PlanningComponent::setGoal	(	const geometry_msgs::msg::PoseStamped &	goal_pose,
		const std::string &	link_name
	)

Set the goal constraints generated from target pose and robot link.

Definition at line 274 of file planning_component.cpp.

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◆ setGoal() [2/4]

bool moveit_cpp::PlanningComponent::setGoal ( const moveit::core::RobotState & goal_state )

Set the goal constraints generated from a target state.

Definition at line 268 of file planning_component.cpp.

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◆ setGoal() [3/4]

bool moveit_cpp::PlanningComponent::setGoal ( const std::string & named_target )

Set the goal constraints generated from a named target state.

Definition at line 280 of file planning_component.cpp.

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◆ setGoal() [4/4]

bool moveit_cpp::PlanningComponent::setGoal ( const std::vector< moveit_msgs::msg::Constraints > & goal_constraints )

Set the goal constraints used for planning.

Definition at line 262 of file planning_component.cpp.

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◆ setPathConstraints()

bool moveit_cpp::PlanningComponent::setPathConstraints ( const moveit_msgs::msg::Constraints & path_constraints )

Set the path constraints generated from a moveit msg Constraints.

Definition at line 104 of file planning_component.cpp.

◆ setStartState() [1/2]

bool moveit_cpp::PlanningComponent::setStartState ( const moveit::core::RobotState & start_state )

Set the robot state that should be considered as start state for planning.

Definition at line 200 of file planning_component.cpp.

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◆ setStartState() [2/2]

bool moveit_cpp::PlanningComponent::setStartState ( const std::string & named_state )

Set the named robot state that should be considered as start state for planning.

Definition at line 218 of file planning_component.cpp.

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◆ setStartStateToCurrentState()

void moveit_cpp::PlanningComponent::setStartStateToCurrentState ( )

Set the start state for planning to be the current state of the robot.

Definition at line 231 of file planning_component.cpp.

◆ setWorkspace()

void moveit_cpp::PlanningComponent::setWorkspace	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz
	)

Specify the workspace bounding box. The box is specified in the planning frame (i.e. relative to the robot root link start position). This is useful when the planning group contains the root joint of the robot – i.e. when planning motion for the robot relative to the world.

Definition at line 244 of file planning_component.cpp.

◆ unsetWorkspace()

void moveit_cpp::PlanningComponent::unsetWorkspace ( )

Remove the workspace bounding box from planning.

Definition at line 257 of file planning_component.cpp.

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

moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
moveit_ros/planning/moveit_cpp/src/planning_component.cpp

Classes

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ MoveItErrorCode

Constructor & Destructor Documentation

◆ PlanningComponent() [1/4]

◆ PlanningComponent() [2/4]

◆ PlanningComponent() [3/4]

◆ PlanningComponent() [4/4]

◆ ~PlanningComponent()

Member Function Documentation

◆ execute()

◆ getLastPlanSolution()

◆ getNamedTargetStates()

◆ getNamedTargetStateValues()

◆ getPlanningGroupName()

◆ getStartState()

◆ MOVEIT_STRUCT_FORWARD()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ plan() [1/2]

◆ plan() [2/2]

◆ setGoal() [1/4]

◆ setGoal() [2/4]

◆ setGoal() [3/4]

◆ setGoal() [4/4]

◆ setPathConstraints()

◆ setStartState() [1/2]

◆ setStartState() [2/2]

◆ setStartStateToCurrentState()

◆ setWorkspace()

◆ unsetWorkspace()