move_group::MoveGroupCapability Class Reference

#include <move_group_capability.hpp>

Inheritance diagram for move_group::MoveGroupCapability:

Public Member Functions
	MoveGroupCapability (const std::string &capability_name)
virtual	~MoveGroupCapability ()
void	setContext (const MoveGroupContextPtr &context)
virtual void	initialize ()=0
const std::string &	getName () const

Protected Member Functions
std::string	getActionResultString (const moveit_msgs::msg::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only)
std::string	stateToStr (MoveGroupState state) const
void	convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::msg::RobotState &first_state_msg, std::vector< moveit_msgs::msg::RobotTrajectory > &trajectory_msg) const
void	convertToMsg (const robot_trajectory::RobotTrajectoryPtr &trajectory, moveit_msgs::msg::RobotState &first_state_msg, moveit_msgs::msg::RobotTrajectory &trajectory_msg) const
void	convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::msg::RobotState &first_state_msg, moveit_msgs::msg::RobotTrajectory &trajectory_msg) const
planning_interface::MotionPlanRequest	clearRequestStartState (const planning_interface::MotionPlanRequest &request) const
moveit_msgs::msg::PlanningScene	clearSceneRobotState (const moveit_msgs::msg::PlanningScene &scene) const
bool	performTransform (geometry_msgs::msg::PoseStamped &pose_msg, const std::string &target_frame) const
planning_pipeline::PlanningPipelinePtr	resolvePlanningPipeline (const std::string &pipeline_id) const

Protected Attributes
std::string	capability_name_
MoveGroupContextPtr	context_

Detailed Description

Definition at line 57 of file move_group_capability.hpp.

Constructor & Destructor Documentation

MoveGroupCapability()

move_group::MoveGroupCapability::MoveGroupCapability ( const std::string & capability_name )

inlineexplicit

Definition at line 60 of file move_group_capability.hpp.

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~MoveGroupCapability()

virtual move_group::MoveGroupCapability::~MoveGroupCapability ( )

inlinevirtual

Definition at line 64 of file move_group_capability.hpp.

Member Function Documentation

clearRequestStartState()

planning_interface::MotionPlanRequest move_group::MoveGroupCapability::clearRequestStartState ( const planning_interface::MotionPlanRequest & request ) const

protected

Definition at line 112 of file move_group_capability.cpp.

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clearSceneRobotState()

moveit_msgs::msg::PlanningScene move_group::MoveGroupCapability::clearSceneRobotState ( const moveit_msgs::msg::PlanningScene & scene ) const

protected

Definition at line 124 of file move_group_capability.cpp.

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convertToMsg() [1/3]

void move_group::MoveGroupCapability::convertToMsg ( const robot_trajectory::RobotTrajectoryPtr & trajectory, moveit_msgs::msg::RobotState & first_state_msg, moveit_msgs::msg::RobotTrajectory & trajectory_msg ) const

protected

Definition at line 85 of file move_group_capability.cpp.

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convertToMsg() [2/3]

void move_group::MoveGroupCapability::convertToMsg ( const std::vector< plan_execution::ExecutableTrajectory > & trajectory, moveit_msgs::msg::RobotState & first_state_msg, moveit_msgs::msg::RobotTrajectory & trajectory_msg ) const

protected

Definition at line 96 of file move_group_capability.cpp.

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convertToMsg() [3/3]

void move_group::MoveGroupCapability::convertToMsg ( const std::vector< plan_execution::ExecutableTrajectory > & trajectory, moveit_msgs::msg::RobotState & first_state_msg, std::vector< moveit_msgs::msg::RobotTrajectory > & trajectory_msg ) const

protected

Definition at line 62 of file move_group_capability.cpp.

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getActionResultString()

std::string move_group::MoveGroupCapability::getActionResultString ( const moveit_msgs::msg::MoveItErrorCodes & error_code, bool planned_trajectory_empty, bool plan_only )

protected

Definition at line 135 of file move_group_capability.cpp.

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getName()

const std::string & move_group::MoveGroupCapability::getName ( ) const

inline

Definition at line 72 of file move_group_capability.hpp.

initialize()

virtual void move_group::MoveGroupCapability::initialize ( )

pure virtual

Implemented in move_group::ApplyPlanningSceneService, move_group::ClearOctomapService, move_group::GetUrdfService, move_group::LoadGeometryFromFileService, move_group::MoveGroupCartesianPathService, move_group::MoveGroupExecuteTrajectoryAction, move_group::MoveGroupGetPlanningSceneService, move_group::MoveGroupKinematicsService, move_group::MoveGroupMoveAction, move_group::MoveGroupMultiStateValidationService, move_group::MoveGroupPlanService, move_group::MoveGroupQueryPlannersService, move_group::MoveGroupStateValidationService, move_group::SaveGeometryToFileService, move_group::TfPublisher, pilz_industrial_motion_planner::MoveGroupSequenceAction, and pilz_industrial_motion_planner::MoveGroupSequenceService.

performTransform()

bool move_group::MoveGroupCapability::performTransform ( geometry_msgs::msg::PoseStamped & pose_msg, const std::string & target_frame ) const

protected

Definition at line 194 of file move_group_capability.cpp.

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resolvePlanningPipeline()

planning_pipeline::PlanningPipelinePtr move_group::MoveGroupCapability::resolvePlanningPipeline ( const std::string & pipeline_id ) const

protected

Definition at line 223 of file move_group_capability.cpp.

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setContext()

void move_group::MoveGroupCapability::setContext

(

const MoveGroupContextPtr &

context

)

Definition at line 57 of file move_group_capability.cpp.

stateToStr()

std::string move_group::MoveGroupCapability::stateToStr ( MoveGroupState state ) const

protected

Definition at line 177 of file move_group_capability.cpp.

Member Data Documentation

capability_name_

std::string move_group::MoveGroupCapability::capability_name_

protected

Definition at line 99 of file move_group_capability.hpp.

context_

MoveGroupContextPtr move_group::MoveGroupCapability::context_

protected

Definition at line 100 of file move_group_capability.hpp.

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

• moveit_ros/move_group/include/moveit/move_group/move_group_capability.hpp
• moveit_ros/move_group/src/move_group_capability.cpp