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 119 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 124 of file move_group_interface.cpp.

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~MoveGroupInterfaceImpl()

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

inline

Definition at line 211 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 923 of file move_group_interface.cpp.

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clearPathConstraints()

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

inline

Definition at line 1111 of file move_group_interface.cpp.

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clearPoseTarget()

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

inline

Definition at line 508 of file move_group_interface.cpp.

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clearPoseTargets()

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

inline

Definition at line 513 of file move_group_interface.cpp.

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clearTrajectoryConstraints()

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

inline

Definition at line 1121 of file move_group_interface.cpp.

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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 873 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 1083 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 1029 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 1024 of file move_group_interface.cpp.

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detachObject()

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

inline

Definition at line 953 of file move_group_interface.cpp.

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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 805 of file move_group_interface.cpp.

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getClock()

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

inline

Definition at line 1186 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 635 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 336 of file move_group_interface.cpp.

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getDefaultPlanningPipelineId()

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

inline

Definition at line 313 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 523 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 518 of file move_group_interface.cpp.

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getGoalJointTolerance()

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

inline

Definition at line 993 of file move_group_interface.cpp.

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getGoalOrientationTolerance()

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

inline

Definition at line 988 of file move_group_interface.cpp.

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getGoalPositionTolerance()

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

inline

Definition at line 983 of file move_group_interface.cpp.

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getInterfaceDescription()

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

inline

Definition at line 247 of file move_group_interface.cpp.

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getInterfaceDescriptions()

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

inline

Definition at line 264 of file move_group_interface.cpp.

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getJointModelGroup()

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

inline

Definition at line 237 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 1126 of file move_group_interface.cpp.

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getMaxAccelerationScalingFactor()

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

inline

Definition at line 386 of file move_group_interface.cpp.

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getMaxVelocityScalingFactor()

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

inline

Definition at line 376 of file move_group_interface.cpp.

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getMoveGroupClient()

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

inline

Definition at line 242 of file move_group_interface.cpp.

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getOptions()

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

inline

Definition at line 227 of file move_group_interface.cpp.

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getPathConstraints()

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

inline

Definition at line 1141 of file move_group_interface.cpp.

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getPlannerId()

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

inline

Definition at line 361 of file move_group_interface.cpp.

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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 280 of file move_group_interface.cpp.

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getPlanningPipelineId()

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

inline

Definition at line 331 of file move_group_interface.cpp.

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getPlanningTime()

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

inline

Definition at line 1019 of file move_group_interface.cpp.

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getPoseReferenceFrame()

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

inline

Definition at line 604 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 564 of file move_group_interface.cpp.

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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 582 of file move_group_interface.cpp.

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getRobotModel()

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

inline

Definition at line 232 of file move_group_interface.cpp.

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getStartState()

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

inline

Definition at line 441 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 413 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 418 of file move_group_interface.cpp.

getTargetType()

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

inline

Definition at line 614 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 222 of file move_group_interface.cpp.

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getTrajectoryConstraints()

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

inline

Definition at line 1153 of file move_group_interface.cpp.

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hasPoseTarget()

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

inline

Definition at line 558 of file move_group_interface.cpp.

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initializeConstraintsStorage()

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

inline

Definition at line 1165 of file move_group_interface.cpp.

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move()

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

inline

Definition at line 734 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 657 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 503 of file move_group_interface.cpp.

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setGoalJointTolerance()

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

inline

Definition at line 998 of file move_group_interface.cpp.

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setGoalOrientationTolerance()

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

inline

Definition at line 1008 of file move_group_interface.cpp.

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setGoalPositionTolerance()

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

inline

Definition at line 1003 of file move_group_interface.cpp.

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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 449 of file move_group_interface.cpp.

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setMaxAccelerationScalingFactor()

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

inline

Definition at line 381 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 391 of file move_group_interface.cpp.

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setMaxVelocityScalingFactor()

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

inline

Definition at line 371 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 366 of file move_group_interface.cpp.

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setPathConstraints() [1/2]

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

inline

Definition at line 1088 of file move_group_interface.cpp.

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setPathConstraints() [2/2]

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

inline

Definition at line 1093 of file move_group_interface.cpp.

setPlannerId()

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

inline

Definition at line 356 of file move_group_interface.cpp.

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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 298 of file move_group_interface.cpp.

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setPlanningPipelineId()

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

inline

Definition at line 320 of file move_group_interface.cpp.

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setPlanningTime()

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

inline

Definition at line 1013 of file move_group_interface.cpp.

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setPoseReferenceFrame()

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

inline

Definition at line 599 of file move_group_interface.cpp.

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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 539 of file move_group_interface.cpp.

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setStartState() [1/2]

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

inline

Definition at line 428 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 423 of file move_group_interface.cpp.

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setStartStateToCurrentState()

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

inline

Definition at line 434 of file move_group_interface.cpp.

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setTargetType()

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

inline

Definition at line 609 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 1116 of file move_group_interface.cpp.

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setWorkspace()

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

inline

Definition at line 1174 of file move_group_interface.cpp.

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startStateMonitor()

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

inline

Definition at line 619 of file move_group_interface.cpp.

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stop()

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

inline

Definition at line 913 of file move_group_interface.cpp.

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

• moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp