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The MoveIt Motion Planning Framework for ROS 2.
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moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl Class Reference

Public Member Functions

 MoveGroupInterfaceImpl (const rclcpp::Node::SharedPtr &node, const Options &opt, const std::shared_ptr< tf2_ros::Buffer > &tf_buffer, const rclcpp::Duration &wait_for_servers)
 ~MoveGroupInterfaceImpl ()
const std::shared_ptr< tf2_ros::Buffer > & getTF () const
const Options & getOptions () const
const moveit::core::RobotModelConstPtr & getRobotModel () const
const moveit::core::JointModelGroup * getJointModelGroup () const
rclcpp_action::Client< moveit_msgs::action::MoveGroup > & getMoveGroupClient () const
bool getInterfaceDescription (moveit_msgs::msg::PlannerInterfaceDescription &desc)
bool getInterfaceDescriptions (std::vector< moveit_msgs::msg::PlannerInterfaceDescription > &desc)
std::map< std::string, std::string > getPlannerParams (const std::string &planner_id, const std::string &group="")
void setPlannerParams (const std::string &planner_id, const std::string &group, const std::map< std::string, std::string > &params, bool replace=false)
std::string getDefaultPlanningPipelineId () const
void setPlanningPipelineId (const std::string &pipeline_id)
const std::string & getPlanningPipelineId () const
std::string getDefaultPlannerId (const std::string &group) const
void setPlannerId (const std::string &planner_id)
const std::string & getPlannerId () const
void setNumPlanningAttempts (unsigned int num_planning_attempts)
void setMaxVelocityScalingFactor (double value)
double getMaxVelocityScalingFactor () const
void setMaxAccelerationScalingFactor (double value)
double getMaxAccelerationScalingFactor () const
void setMaxScalingFactor (double &variable, const double target_value, const char *factor_name, double fallback_value)
moveit::core::RobotState & getTargetRobotState ()
const moveit::core::RobotState & getTargetRobotState () const
void setStartState (const moveit_msgs::msg::RobotState &start_state)
void setStartState (const moveit::core::RobotState &start_state)
void setStartStateToCurrentState ()
moveit::core::RobotStatePtr getStartState ()
bool setJointValueTarget (const geometry_msgs::msg::Pose &eef_pose, const std::string &end_effector_link, const std::string &frame, bool approx)
void setEndEffectorLink (const std::string &end_effector)
void clearPoseTarget (const std::string &end_effector_link)
void clearPoseTargets ()
const std::string & getEndEffectorLink () const
const std::string & getEndEffector () const
bool setPoseTargets (const std::vector< geometry_msgs::msg::PoseStamped > &poses, const std::string &end_effector_link)
bool hasPoseTarget (const std::string &end_effector_link) const
const geometry_msgs::msg::PoseStamped & getPoseTarget (const std::string &end_effector_link) const
const std::vector< geometry_msgs::msg::PoseStamped > & getPoseTargets (const std::string &end_effector_link) const
void setPoseReferenceFrame (const std::string &pose_reference_frame)
const std::string & getPoseReferenceFrame () const
void setTargetType (ActiveTargetType type)
ActiveTargetType getTargetType () const
bool startStateMonitor (double wait)
bool getCurrentState (moveit::core::RobotStatePtr &current_state, double wait_seconds=1.0)
moveit::core::MoveItErrorCode plan (Plan &plan)
moveit::core::MoveItErrorCode move (bool wait)
moveit::core::MoveItErrorCode execute (const moveit_msgs::msg::RobotTrajectory &trajectory, bool wait, const std::vector< std::string > &controllers=std::vector< std::string >())
double computeCartesianPath (const std::vector< geometry_msgs::msg::Pose > &waypoints, double step, moveit_msgs::msg::RobotTrajectory &msg, const moveit_msgs::msg::Constraints &path_constraints, bool avoid_collisions, moveit_msgs::msg::MoveItErrorCodes &error_code)
void stop ()
bool attachObject (const std::string &object, const std::string &link, const std::vector< std::string > &touch_links)
bool detachObject (const std::string &name)
double getGoalPositionTolerance () const
double getGoalOrientationTolerance () const
double getGoalJointTolerance () const
void setGoalJointTolerance (double tolerance)
void setGoalPositionTolerance (double tolerance)
void setGoalOrientationTolerance (double tolerance)
void setPlanningTime (double seconds)
double getPlanningTime () const
void constructRobotState (moveit_msgs::msg::RobotState &state) const
void constructMotionPlanRequest (moveit_msgs::msg::MotionPlanRequest &request) const
void constructGoal (moveit_msgs::action::MoveGroup::Goal &goal) const
void setPathConstraints (const moveit_msgs::msg::Constraints &constraint)
bool setPathConstraints (const std::string &constraint)
void clearPathConstraints ()
void setTrajectoryConstraints (const moveit_msgs::msg::TrajectoryConstraints &constraint)
void clearTrajectoryConstraints ()
std::vector< std::string > getKnownConstraints () const
moveit_msgs::msg::Constraints getPathConstraints () const
moveit_msgs::msg::TrajectoryConstraints getTrajectoryConstraints () const
void initializeConstraintsStorage (const std::string &host, unsigned int port)
void setWorkspace (double minx, double miny, double minz, double maxx, double maxy, double maxz)
rclcpp::Clock::SharedPtr getClock ()

Detailed Description

Definition at line 118 of file move_group_interface.cpp.

Constructor & Destructor Documentation

◆ MoveGroupInterfaceImpl()

moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::MoveGroupInterfaceImpl ( const rclcpp::Node::SharedPtr & node,
const Options & opt,
const std::shared_ptr< tf2_ros::Buffer > & tf_buffer,
const rclcpp::Duration & wait_for_servers )
inline

Definition at line 123 of file move_group_interface.cpp.

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◆ ~MoveGroupInterfaceImpl()

moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::~MoveGroupInterfaceImpl ( )
inline

Definition at line 210 of file move_group_interface.cpp.

Member Function Documentation

◆ attachObject()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::attachObject ( const std::string & object,
const std::string & link,
const std::vector< std::string > & touch_links )
inline

Definition at line 936 of file move_group_interface.cpp.

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◆ clearPathConstraints()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearPathConstraints ( )
inline

Definition at line 1132 of file move_group_interface.cpp.

◆ clearPoseTarget()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearPoseTarget ( const std::string & end_effector_link)
inline

Definition at line 513 of file move_group_interface.cpp.

◆ clearPoseTargets()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearPoseTargets ( )
inline

Definition at line 518 of file move_group_interface.cpp.

◆ clearTrajectoryConstraints()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::clearTrajectoryConstraints ( )
inline

Definition at line 1142 of file move_group_interface.cpp.

◆ computeCartesianPath()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::computeCartesianPath ( const std::vector< geometry_msgs::msg::Pose > & waypoints,
double step,
moveit_msgs::msg::RobotTrajectory & msg,
const moveit_msgs::msg::Constraints & path_constraints,
bool avoid_collisions,
moveit_msgs::msg::MoveItErrorCodes & error_code )
inline

Definition at line 884 of file move_group_interface.cpp.

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◆ constructGoal()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructGoal ( moveit_msgs::action::MoveGroup::Goal & goal) const
inline

Definition at line 1100 of file move_group_interface.cpp.

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◆ constructMotionPlanRequest()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructMotionPlanRequest ( moveit_msgs::msg::MotionPlanRequest & request) const
inline

Definition at line 1042 of file move_group_interface.cpp.

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◆ constructRobotState()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::constructRobotState ( moveit_msgs::msg::RobotState & state) const
inline

Definition at line 1037 of file move_group_interface.cpp.

◆ detachObject()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::detachObject ( const std::string & name)
inline

Definition at line 966 of file move_group_interface.cpp.

◆ execute()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::execute ( const moveit_msgs::msg::RobotTrajectory & trajectory,
bool wait,
const std::vector< std::string > & controllers = std::vector<std::string>() )
inline

Definition at line 814 of file move_group_interface.cpp.

◆ getClock()

rclcpp::Clock::SharedPtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getClock ( )
inline

Definition at line 1207 of file move_group_interface.cpp.

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◆ getCurrentState()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getCurrentState ( moveit::core::RobotStatePtr & current_state,
double wait_seconds = 1.0 )
inline

Definition at line 640 of file move_group_interface.cpp.

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◆ getDefaultPlannerId()

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getDefaultPlannerId ( const std::string & group) const
inline

Definition at line 335 of file move_group_interface.cpp.

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◆ getDefaultPlanningPipelineId()

std::string moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getDefaultPlanningPipelineId ( ) const
inline

Definition at line 312 of file move_group_interface.cpp.

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◆ getEndEffector()

const std::string & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getEndEffector ( ) const
inline

Definition at line 528 of file move_group_interface.cpp.

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◆ getEndEffectorLink()

const std::string & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getEndEffectorLink ( ) const
inline

Definition at line 523 of file move_group_interface.cpp.

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◆ getGoalJointTolerance()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getGoalJointTolerance ( ) const
inline

Definition at line 1006 of file move_group_interface.cpp.

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◆ getGoalOrientationTolerance()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getGoalOrientationTolerance ( ) const
inline

Definition at line 1001 of file move_group_interface.cpp.

◆ getGoalPositionTolerance()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getGoalPositionTolerance ( ) const
inline

Definition at line 996 of file move_group_interface.cpp.

◆ getInterfaceDescription()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getInterfaceDescription ( moveit_msgs::msg::PlannerInterfaceDescription & desc)
inline

Definition at line 246 of file move_group_interface.cpp.

◆ getInterfaceDescriptions()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getInterfaceDescriptions ( std::vector< moveit_msgs::msg::PlannerInterfaceDescription > & desc)
inline

Definition at line 263 of file move_group_interface.cpp.

◆ getJointModelGroup()

const moveit::core::JointModelGroup * moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getJointModelGroup ( ) const
inline

Definition at line 236 of file move_group_interface.cpp.

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◆ getKnownConstraints()

std::vector< std::string > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getKnownConstraints ( ) const
inline

Definition at line 1147 of file move_group_interface.cpp.

◆ getMaxAccelerationScalingFactor()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getMaxAccelerationScalingFactor ( ) const
inline

Definition at line 385 of file move_group_interface.cpp.

◆ getMaxVelocityScalingFactor()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getMaxVelocityScalingFactor ( ) const
inline

Definition at line 375 of file move_group_interface.cpp.

◆ getMoveGroupClient()

rclcpp_action::Client< moveit_msgs::action::MoveGroup > & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getMoveGroupClient ( ) const
inline

Definition at line 241 of file move_group_interface.cpp.

◆ getOptions()

const Options & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getOptions ( ) const
inline

Definition at line 226 of file move_group_interface.cpp.

◆ getPathConstraints()

moveit_msgs::msg::Constraints moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPathConstraints ( ) const
inline

Definition at line 1162 of file move_group_interface.cpp.

◆ getPlannerId()

const std::string & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlannerId ( ) const
inline

Definition at line 360 of file move_group_interface.cpp.

◆ getPlannerParams()

std::map< std::string, std::string > moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlannerParams ( const std::string & planner_id,
const std::string & group = "" )
inline

Definition at line 279 of file move_group_interface.cpp.

◆ getPlanningPipelineId()

const std::string & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlanningPipelineId ( ) const
inline

Definition at line 330 of file move_group_interface.cpp.

◆ getPlanningTime()

double moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPlanningTime ( ) const
inline

Definition at line 1032 of file move_group_interface.cpp.

◆ getPoseReferenceFrame()

const std::string & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPoseReferenceFrame ( ) const
inline

Definition at line 609 of file move_group_interface.cpp.

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◆ getPoseTarget()

const geometry_msgs::msg::PoseStamped & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPoseTarget ( const std::string & end_effector_link) const
inline

Definition at line 569 of file move_group_interface.cpp.

◆ getPoseTargets()

const std::vector< geometry_msgs::msg::PoseStamped > & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getPoseTargets ( const std::string & end_effector_link) const
inline

Definition at line 587 of file move_group_interface.cpp.

◆ getRobotModel()

const moveit::core::RobotModelConstPtr & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getRobotModel ( ) const
inline

Definition at line 231 of file move_group_interface.cpp.

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◆ getStartState()

moveit::core::RobotStatePtr moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getStartState ( )
inline

Definition at line 440 of file move_group_interface.cpp.

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◆ getTargetRobotState() [1/2]

moveit::core::RobotState & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTargetRobotState ( )
inline

Definition at line 412 of file move_group_interface.cpp.

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◆ getTargetRobotState() [2/2]

const moveit::core::RobotState & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTargetRobotState ( ) const
inline

Definition at line 417 of file move_group_interface.cpp.

◆ getTargetType()

ActiveTargetType moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTargetType ( ) const
inline

Definition at line 619 of file move_group_interface.cpp.

◆ getTF()

const std::shared_ptr< tf2_ros::Buffer > & moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTF ( ) const
inline

Definition at line 221 of file move_group_interface.cpp.

◆ getTrajectoryConstraints()

moveit_msgs::msg::TrajectoryConstraints moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::getTrajectoryConstraints ( ) const
inline

Definition at line 1174 of file move_group_interface.cpp.

◆ hasPoseTarget()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::hasPoseTarget ( const std::string & end_effector_link) const
inline

Definition at line 563 of file move_group_interface.cpp.

◆ initializeConstraintsStorage()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::initializeConstraintsStorage ( const std::string & host,
unsigned int port )
inline

Definition at line 1186 of file move_group_interface.cpp.

◆ move()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::move ( bool wait)
inline

Definition at line 741 of file move_group_interface.cpp.

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◆ plan()

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::plan ( Plan & plan)
inline

Definition at line 662 of file move_group_interface.cpp.

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◆ setEndEffectorLink()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setEndEffectorLink ( const std::string & end_effector)
inline

Definition at line 508 of file move_group_interface.cpp.

◆ setGoalJointTolerance()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setGoalJointTolerance ( double tolerance)
inline

Definition at line 1011 of file move_group_interface.cpp.

◆ setGoalOrientationTolerance()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setGoalOrientationTolerance ( double tolerance)
inline

Definition at line 1021 of file move_group_interface.cpp.

◆ setGoalPositionTolerance()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setGoalPositionTolerance ( double tolerance)
inline

Definition at line 1016 of file move_group_interface.cpp.

◆ setJointValueTarget()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setJointValueTarget ( const geometry_msgs::msg::Pose & eef_pose,
const std::string & end_effector_link,
const std::string & frame,
bool approx )
inline

Definition at line 448 of file move_group_interface.cpp.

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◆ setMaxAccelerationScalingFactor()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setMaxAccelerationScalingFactor ( double value)
inline

Definition at line 380 of file move_group_interface.cpp.

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◆ setMaxScalingFactor()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setMaxScalingFactor ( double & variable,
const double target_value,
const char * factor_name,
double fallback_value )
inline

Definition at line 390 of file move_group_interface.cpp.

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◆ setMaxVelocityScalingFactor()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setMaxVelocityScalingFactor ( double value)
inline

Definition at line 370 of file move_group_interface.cpp.

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◆ setNumPlanningAttempts()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setNumPlanningAttempts ( unsigned int num_planning_attempts)
inline

Definition at line 365 of file move_group_interface.cpp.

◆ setPathConstraints() [1/2]

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPathConstraints ( const moveit_msgs::msg::Constraints & constraint)
inline

Definition at line 1105 of file move_group_interface.cpp.

◆ setPathConstraints() [2/2]

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPathConstraints ( const std::string & constraint)
inline

Definition at line 1110 of file move_group_interface.cpp.

◆ setPlannerId()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlannerId ( const std::string & planner_id)
inline

Definition at line 355 of file move_group_interface.cpp.

◆ setPlannerParams()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlannerParams ( const std::string & planner_id,
const std::string & group,
const std::map< std::string, std::string > & params,
bool replace = false )
inline

Definition at line 297 of file move_group_interface.cpp.

◆ setPlanningPipelineId()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlanningPipelineId ( const std::string & pipeline_id)
inline

Definition at line 319 of file move_group_interface.cpp.

◆ setPlanningTime()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPlanningTime ( double seconds)
inline

Definition at line 1026 of file move_group_interface.cpp.

◆ setPoseReferenceFrame()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPoseReferenceFrame ( const std::string & pose_reference_frame)
inline

Definition at line 604 of file move_group_interface.cpp.

◆ setPoseTargets()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setPoseTargets ( const std::vector< geometry_msgs::msg::PoseStamped > & poses,
const std::string & end_effector_link )
inline

Definition at line 544 of file move_group_interface.cpp.

◆ setStartState() [1/2]

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setStartState ( const moveit::core::RobotState & start_state)
inline

Definition at line 427 of file move_group_interface.cpp.

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◆ setStartState() [2/2]

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setStartState ( const moveit_msgs::msg::RobotState & start_state)
inline

Definition at line 422 of file move_group_interface.cpp.

◆ setStartStateToCurrentState()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setStartStateToCurrentState ( )
inline

Definition at line 433 of file move_group_interface.cpp.

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◆ setTargetType()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setTargetType ( ActiveTargetType type)
inline

Definition at line 614 of file move_group_interface.cpp.

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◆ setTrajectoryConstraints()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setTrajectoryConstraints ( const moveit_msgs::msg::TrajectoryConstraints & constraint)
inline

Definition at line 1137 of file move_group_interface.cpp.

◆ setWorkspace()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::setWorkspace ( double minx,
double miny,
double minz,
double maxx,
double maxy,
double maxz )
inline

Definition at line 1195 of file move_group_interface.cpp.

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◆ startStateMonitor()

bool moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::startStateMonitor ( double wait)
inline

Definition at line 624 of file move_group_interface.cpp.

◆ stop()

void moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::stop ( )
inline

Definition at line 926 of file move_group_interface.cpp.

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