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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 120 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 125 of file move_group_interface.cpp.

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◆ ~MoveGroupInterfaceImpl()

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

Definition at line 212 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 924 of file move_group_interface.cpp.

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◆ clearPathConstraints()

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

Definition at line 1112 of file move_group_interface.cpp.

◆ clearPoseTarget()

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

Definition at line 509 of file move_group_interface.cpp.

◆ clearPoseTargets()

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

Definition at line 514 of file move_group_interface.cpp.

◆ clearTrajectoryConstraints()

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

Definition at line 1122 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 874 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 1084 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 1030 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 1025 of file move_group_interface.cpp.

◆ detachObject()

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

Definition at line 954 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 806 of file move_group_interface.cpp.

◆ getClock()

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

Definition at line 1187 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 636 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 337 of file move_group_interface.cpp.

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◆ getDefaultPlanningPipelineId()

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

Definition at line 314 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 524 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 519 of file move_group_interface.cpp.

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◆ getGoalJointTolerance()

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

Definition at line 994 of file move_group_interface.cpp.

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◆ getGoalOrientationTolerance()

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

Definition at line 989 of file move_group_interface.cpp.

◆ getGoalPositionTolerance()

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

Definition at line 984 of file move_group_interface.cpp.

◆ getInterfaceDescription()

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

Definition at line 248 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 265 of file move_group_interface.cpp.

◆ getJointModelGroup()

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

Definition at line 238 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 1127 of file move_group_interface.cpp.

◆ getMaxAccelerationScalingFactor()

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

Definition at line 387 of file move_group_interface.cpp.

◆ getMaxVelocityScalingFactor()

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

Definition at line 377 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 243 of file move_group_interface.cpp.

◆ getOptions()

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

Definition at line 228 of file move_group_interface.cpp.

◆ getPathConstraints()

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

Definition at line 1142 of file move_group_interface.cpp.

◆ getPlannerId()

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

Definition at line 362 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 281 of file move_group_interface.cpp.

◆ getPlanningPipelineId()

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

Definition at line 332 of file move_group_interface.cpp.

◆ getPlanningTime()

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

Definition at line 1020 of file move_group_interface.cpp.

◆ getPoseReferenceFrame()

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

Definition at line 605 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 565 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 583 of file move_group_interface.cpp.

◆ getRobotModel()

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

Definition at line 233 of file move_group_interface.cpp.

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◆ getStartState()

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

Definition at line 442 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 414 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 419 of file move_group_interface.cpp.

◆ getTargetType()

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

Definition at line 615 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 223 of file move_group_interface.cpp.

◆ getTrajectoryConstraints()

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

Definition at line 1154 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 559 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 1166 of file move_group_interface.cpp.

◆ move()

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

Definition at line 735 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 658 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 504 of file move_group_interface.cpp.

◆ setGoalJointTolerance()

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

Definition at line 999 of file move_group_interface.cpp.

◆ setGoalOrientationTolerance()

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

Definition at line 1009 of file move_group_interface.cpp.

◆ setGoalPositionTolerance()

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

Definition at line 1004 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 450 of file move_group_interface.cpp.

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◆ setMaxAccelerationScalingFactor()

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

Definition at line 382 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 392 of file move_group_interface.cpp.

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◆ setMaxVelocityScalingFactor()

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

Definition at line 372 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 367 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 1089 of file move_group_interface.cpp.

◆ setPathConstraints() [2/2]

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

Definition at line 1094 of file move_group_interface.cpp.

◆ setPlannerId()

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

Definition at line 357 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 299 of file move_group_interface.cpp.

◆ setPlanningPipelineId()

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

Definition at line 321 of file move_group_interface.cpp.

◆ setPlanningTime()

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

Definition at line 1014 of file move_group_interface.cpp.

◆ setPoseReferenceFrame()

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

Definition at line 600 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 540 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 429 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 424 of file move_group_interface.cpp.

◆ setStartStateToCurrentState()

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

Definition at line 435 of file move_group_interface.cpp.

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◆ setTargetType()

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

Definition at line 610 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 1117 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 1175 of file move_group_interface.cpp.

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◆ startStateMonitor()

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

Definition at line 620 of file move_group_interface.cpp.

◆ stop()

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

Definition at line 914 of file move_group_interface.cpp.

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