#include <state_validation_service_capability.hpp>

Inheritance diagram for move_group::MoveGroupStateValidationService:

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Collaboration diagram for move_group::MoveGroupStateValidationService:

Public Member Functions
	MoveGroupStateValidationService ()

void	initialize () override

Public Member Functions inherited from move_group::MoveGroupCapability
	MoveGroupCapability (const std::string &capability_name)

virtual	~MoveGroupCapability ()

void	setContext (const MoveGroupContextPtr &context)

const std::string &	getName () const

Protected Member Functions
bool	isStateValid (const planning_scene_monitor::LockedPlanningSceneRO &ls, const moveit::core::RobotState &rs, const std::string &group_name, const moveit_msgs::msg::Constraints &constraints, std::vector< moveit_msgs::msg::ContactInformation > &contacts, std::vector< moveit_msgs::msg::CostSource > &cost_sources, std::vector< moveit_msgs::msg::ConstraintEvalResult > &constraint_result)

Protected Member Functions inherited from move_group::MoveGroupCapability
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

Additional Inherited Members
Protected Attributes inherited from move_group::MoveGroupCapability
std::string	capability_name_

MoveGroupContextPtr	context_

Detailed Description

Definition at line 44 of file state_validation_service_capability.hpp.

Constructor & Destructor Documentation

◆ MoveGroupStateValidationService()

move_group::MoveGroupStateValidationService::MoveGroupStateValidationService ( )

Definition at line 46 of file state_validation_service_capability.cpp.

Member Function Documentation

◆ initialize()

void move_group::MoveGroupStateValidationService::initialize ( )

overridevirtual

Implements move_group::MoveGroupCapability.

Definition at line 50 of file state_validation_service_capability.cpp.

◆ isStateValid()

bool move_group::MoveGroupStateValidationService::isStateValid	(	const planning_scene_monitor::LockedPlanningSceneRO &	ls,
		const moveit::core::RobotState &	rs,
		const std::string &	group_name,
		const moveit_msgs::msg::Constraints &	constraints,
		std::vector< moveit_msgs::msg::ContactInformation > &	contacts,
		std::vector< moveit_msgs::msg::CostSource > &	cost_sources,
		std::vector< moveit_msgs::msg::ConstraintEvalResult > &	constraint_result
	)

protected

Definition at line 60 of file state_validation_service_capability.cpp.

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

moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.hpp
moveit_ros/move_group/src/default_capabilities/state_validation_service_capability.cpp

Public Member Functions