moveit2
The MoveIt Motion Planning Framework for ROS 2.
Signals | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | Static Protected Attributes | Friends | List of all members
moveit_rviz_plugin::MotionPlanningFrame Class Reference

#include <motion_planning_frame.h>

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Signals

void planningFinished ()
 
void configChanged ()
 

Public Member Functions

 MotionPlanningFrame (const MotionPlanningFrame &)=delete
 
 MotionPlanningFrame (MotionPlanningDisplay *pdisplay, rviz_common::DisplayContext *context, QWidget *parent=nullptr)
 
 ~MotionPlanningFrame () override
 
void clearRobotModel ()
 
void changePlanningGroup ()
 
void enable ()
 
void disable ()
 
void sceneUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)
 

Protected Types

typedef std::map< std::string, moveit_msgs::msg::RobotState > RobotStateMap
 
typedef std::pair< std::string, moveit_msgs::msg::RobotState > RobotStatePair
 

Protected Member Functions

void initFromMoveGroupNS ()
 
void constructPlanningRequest (moveit_msgs::msg::MotionPlanRequest &mreq)
 
void updateSceneMarkers (float wall_dt, float ros_dt)
 
void updateExternalCommunication ()
 

Protected Attributes

MotionPlanningDisplayplanning_display_
 
rviz_common::DisplayContext * context_
 
Ui::MotionPlanningUI * ui_
 
MotionPlanningFrameJointsWidgetjoints_tab_
 
moveit::planning_interface::MoveGroupInterfacePtr move_group_
 
moveit::planning_interface::MoveGroupInterface::PlanPtr current_plan_
 
moveit_warehouse::PlanningSceneStoragePtr planning_scene_storage_
 
moveit_warehouse::ConstraintsStoragePtr constraints_storage_
 
moveit_warehouse::RobotStateStoragePtr robot_state_storage_
 
std::shared_ptr< rviz_default_plugins::displays::InteractiveMarker > scene_marker_
 
RobotStateMap robot_states_
 
std::string default_planning_pipeline_
 
std::vector< moveit_msgs::msg::PlannerInterfaceDescription > planner_descriptions_
 

Static Protected Attributes

static const int ITEM_TYPE_SCENE = 1
 
static const int ITEM_TYPE_QUERY = 2
 

Friends

class MotionPlanningDisplay
 

Detailed Description

Definition at line 101 of file motion_planning_frame.h.

Member Typedef Documentation

◆ RobotStateMap

typedef std::map<std::string, moveit_msgs::msg::RobotState> moveit_rviz_plugin::MotionPlanningFrame::RobotStateMap
protected

Definition at line 144 of file motion_planning_frame.h.

◆ RobotStatePair

typedef std::pair<std::string, moveit_msgs::msg::RobotState> moveit_rviz_plugin::MotionPlanningFrame::RobotStatePair
protected

Definition at line 145 of file motion_planning_frame.h.

Constructor & Destructor Documentation

◆ MotionPlanningFrame() [1/2]

moveit_rviz_plugin::MotionPlanningFrame::MotionPlanningFrame ( const MotionPlanningFrame )
delete

◆ MotionPlanningFrame() [2/2]

moveit_rviz_plugin::MotionPlanningFrame::MotionPlanningFrame ( MotionPlanningDisplay pdisplay,
rviz_common::DisplayContext *  context,
QWidget *  parent = nullptr 
)

Definition at line 65 of file motion_planning_frame.cpp.

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◆ ~MotionPlanningFrame()

moveit_rviz_plugin::MotionPlanningFrame::~MotionPlanningFrame ( )
override

Definition at line 240 of file motion_planning_frame.cpp.

Member Function Documentation

◆ changePlanningGroup()

void moveit_rviz_plugin::MotionPlanningFrame::changePlanningGroup ( )

Definition at line 443 of file motion_planning_frame.cpp.

◆ clearRobotModel()

void moveit_rviz_plugin::MotionPlanningFrame::clearRobotModel ( )

Definition at line 436 of file motion_planning_frame.cpp.

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◆ configChanged

void moveit_rviz_plugin::MotionPlanningFrame::configChanged ( )
signal
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◆ constructPlanningRequest()

void moveit_rviz_plugin::MotionPlanningFrame::constructPlanningRequest ( moveit_msgs::msg::MotionPlanRequest &  mreq)
protected

Definition at line 481 of file motion_planning_frame_planning.cpp.

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◆ disable()

void moveit_rviz_plugin::MotionPlanningFrame::disable ( )

Definition at line 652 of file motion_planning_frame.cpp.

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◆ enable()

void moveit_rviz_plugin::MotionPlanningFrame::enable ( )

Definition at line 587 of file motion_planning_frame.cpp.

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◆ initFromMoveGroupNS()

void moveit_rviz_plugin::MotionPlanningFrame::initFromMoveGroupNS ( )
protected

Definition at line 609 of file motion_planning_frame.cpp.

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◆ planningFinished

void moveit_rviz_plugin::MotionPlanningFrame::planningFinished ( )
signal

◆ sceneUpdate()

void moveit_rviz_plugin::MotionPlanningFrame::sceneUpdate ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType  update_type)

Definition at line 451 of file motion_planning_frame.cpp.

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◆ updateExternalCommunication()

void moveit_rviz_plugin::MotionPlanningFrame::updateExternalCommunication ( )
protected

Definition at line 674 of file motion_planning_frame.cpp.

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◆ updateSceneMarkers()

void moveit_rviz_plugin::MotionPlanningFrame::updateSceneMarkers ( float  wall_dt,
float  ros_dt 
)
protected

Definition at line 668 of file motion_planning_frame.cpp.

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Friends And Related Function Documentation

◆ MotionPlanningDisplay

friend class MotionPlanningDisplay
friend

Definition at line 103 of file motion_planning_frame.h.

Member Data Documentation

◆ constraints_storage_

moveit_warehouse::ConstraintsStoragePtr moveit_rviz_plugin::MotionPlanningFrame::constraints_storage_
protected

Definition at line 139 of file motion_planning_frame.h.

◆ context_

rviz_common::DisplayContext* moveit_rviz_plugin::MotionPlanningFrame::context_
protected

Definition at line 129 of file motion_planning_frame.h.

◆ current_plan_

moveit::planning_interface::MoveGroupInterface::PlanPtr moveit_rviz_plugin::MotionPlanningFrame::current_plan_
protected

Definition at line 137 of file motion_planning_frame.h.

◆ default_planning_pipeline_

std::string moveit_rviz_plugin::MotionPlanningFrame::default_planning_pipeline_
protected

Definition at line 147 of file motion_planning_frame.h.

◆ ITEM_TYPE_QUERY

const int moveit_rviz_plugin::MotionPlanningFrame::ITEM_TYPE_QUERY = 2
staticprotected

Definition at line 119 of file motion_planning_frame.h.

◆ ITEM_TYPE_SCENE

const int moveit_rviz_plugin::MotionPlanningFrame::ITEM_TYPE_SCENE = 1
staticprotected

Definition at line 118 of file motion_planning_frame.h.

◆ joints_tab_

MotionPlanningFrameJointsWidget* moveit_rviz_plugin::MotionPlanningFrame::joints_tab_
protected

Definition at line 131 of file motion_planning_frame.h.

◆ move_group_

moveit::planning_interface::MoveGroupInterfacePtr moveit_rviz_plugin::MotionPlanningFrame::move_group_
protected

Definition at line 133 of file motion_planning_frame.h.

◆ planner_descriptions_

std::vector<moveit_msgs::msg::PlannerInterfaceDescription> moveit_rviz_plugin::MotionPlanningFrame::planner_descriptions_
protected

Definition at line 148 of file motion_planning_frame.h.

◆ planning_display_

MotionPlanningDisplay* moveit_rviz_plugin::MotionPlanningFrame::planning_display_
protected

Definition at line 128 of file motion_planning_frame.h.

◆ planning_scene_storage_

moveit_warehouse::PlanningSceneStoragePtr moveit_rviz_plugin::MotionPlanningFrame::planning_scene_storage_
protected

Definition at line 138 of file motion_planning_frame.h.

◆ robot_state_storage_

moveit_warehouse::RobotStateStoragePtr moveit_rviz_plugin::MotionPlanningFrame::robot_state_storage_
protected

Definition at line 140 of file motion_planning_frame.h.

◆ robot_states_

RobotStateMap moveit_rviz_plugin::MotionPlanningFrame::robot_states_
protected

Definition at line 146 of file motion_planning_frame.h.

◆ scene_marker_

std::shared_ptr<rviz_default_plugins::displays::InteractiveMarker> moveit_rviz_plugin::MotionPlanningFrame::scene_marker_
protected

Definition at line 142 of file motion_planning_frame.h.

◆ ui_

Ui::MotionPlanningUI* moveit_rviz_plugin::MotionPlanningFrame::ui_
protected

Definition at line 130 of file motion_planning_frame.h.


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