moveit2
The MoveIt Motion Planning Framework for ROS 2.
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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 > ¶ms, 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::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) |
void | setSupportSurfaceName (const std::string &support_surface) |
const std::string & | getPoseReferenceFrame () const |
void | setTargetType (ActiveTargetType type) |
ActiveTargetType | getTargetType () const |
bool | startStateMonitor (double wait) |
bool | getCurrentState (moveit::core::RobotStatePtr ¤t_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 () |
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