plan_execution::PlanExecution Class Reference

#include <plan_execution.h>

Classes
struct	Options

Public Member Functions
	PlanExecution (const rclcpp::Node::SharedPtr &node, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor, const trajectory_execution_manager::TrajectoryExecutionManagerPtr &trajectory_execution)
	~PlanExecution ()
const planning_scene_monitor::PlanningSceneMonitorPtr &	getPlanningSceneMonitor () const
const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	getTrajectoryExecutionManager () const
double	getTrajectoryStateRecordingFrequency () const
void	setTrajectoryStateRecordingFrequency (double freq)
void	setMaxReplanAttempts (unsigned int attempts)
unsigned int	getMaxReplanAttempts () const
void	planAndExecute (ExecutableMotionPlan &plan, const Options &opt)
void	planAndExecute (ExecutableMotionPlan &plan, const moveit_msgs::msg::PlanningScene &scene_diff, const Options &opt)
moveit_msgs::msg::MoveItErrorCodes	executeAndMonitor (ExecutableMotionPlan &plan, bool reset_preempted=true)
	Execute and monitor a previously created plan. More...
void	stop ()
std::string	getErrorCodeString (const moveit_msgs::msg::MoveItErrorCodes &error_code)

Detailed Description

Definition at line 54 of file plan_execution.h.

Constructor & Destructor Documentation

PlanExecution()

plan_execution::PlanExecution::PlanExecution	(	const rclcpp::Node::SharedPtr &	node,
		const planning_scene_monitor::PlanningSceneMonitorPtr &	planning_scene_monitor,
		const trajectory_execution_manager::TrajectoryExecutionManagerPtr &	trajectory_execution
	)

Definition at line 79 of file plan_execution.cpp.

~PlanExecution()

plan_execution::PlanExecution::~PlanExecution

(

)

Definition at line 102 of file plan_execution.cpp.

Member Function Documentation

executeAndMonitor()

moveit_msgs::msg::MoveItErrorCodes plan_execution::PlanExecution::executeAndMonitor	(	ExecutableMotionPlan &	plan,
		bool	reset_preempted = true
	)

Execute and monitor a previously created plan.

In case there is no planning_scene or planning_scene_monitor set in the plan they will be set at the start of the method. They are then used to monitor the execution.

Definition at line 329 of file plan_execution.cpp.

getErrorCodeString()

std::string plan_execution::PlanExecution::getErrorCodeString

(

const moveit_msgs::msg::MoveItErrorCodes &

error_code

)

Definition at line 112 of file plan_execution.cpp.

getMaxReplanAttempts()

unsigned int plan_execution::PlanExecution::getMaxReplanAttempts ( ) const

inline

Definition at line 127 of file plan_execution.h.

getPlanningSceneMonitor()

const planning_scene_monitor::PlanningSceneMonitorPtr& plan_execution::PlanExecution::getPlanningSceneMonitor ( ) const

inline

Definition at line 98 of file plan_execution.h.

getTrajectoryExecutionManager()

const trajectory_execution_manager::TrajectoryExecutionManagerPtr& plan_execution::PlanExecution::getTrajectoryExecutionManager ( ) const

inline

Definition at line 103 of file plan_execution.h.

getTrajectoryStateRecordingFrequency()

double plan_execution::PlanExecution::getTrajectoryStateRecordingFrequency ( ) const

inline

Definition at line 108 of file plan_execution.h.

planAndExecute() [1/2]

void plan_execution::PlanExecution::planAndExecute	(	ExecutableMotionPlan &	plan,
		const moveit_msgs::msg::PlanningScene &	scene_diff,
		const Options &	opt
	)

Definition at line 148 of file plan_execution.cpp.

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planAndExecute() [2/2]

void plan_execution::PlanExecution::planAndExecute	(	ExecutableMotionPlan &	plan,
		const Options &	opt
	)

Definition at line 141 of file plan_execution.cpp.

setMaxReplanAttempts()

void plan_execution::PlanExecution::setMaxReplanAttempts ( unsigned int  attempts )

inline

Definition at line 122 of file plan_execution.h.

setTrajectoryStateRecordingFrequency()

void plan_execution::PlanExecution::setTrajectoryStateRecordingFrequency ( double  freq )

inline

Definition at line 116 of file plan_execution.h.

stop()

void plan_execution::PlanExecution::stop

(

)

Definition at line 107 of file plan_execution.cpp.

---

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

• moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h
• moveit_ros/planning/plan_execution/src/plan_execution.cpp