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 106 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 111 of file move_group_interface.cpp.

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~MoveGroupInterfaceImpl()

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

inline

Definition at line 198 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 910 of file move_group_interface.cpp.

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clearPathConstraints()

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

inline

Definition at line 1098 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 495 of file move_group_interface.cpp.

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clearPoseTargets()

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

inline

Definition at line 500 of file move_group_interface.cpp.

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clearTrajectoryConstraints()

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

inline

Definition at line 1108 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 860 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 1070 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 1016 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 1011 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 940 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 792 of file move_group_interface.cpp.

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getClock()

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

inline

Definition at line 1173 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 622 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 323 of file move_group_interface.cpp.

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getDefaultPlanningPipelineId()

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

inline

Definition at line 300 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 510 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 505 of file move_group_interface.cpp.

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getGoalJointTolerance()

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

inline

Definition at line 980 of file move_group_interface.cpp.

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getGoalOrientationTolerance()

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

inline

Definition at line 975 of file move_group_interface.cpp.

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getGoalPositionTolerance()

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

inline

Definition at line 970 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 234 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 251 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 224 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 1113 of file move_group_interface.cpp.

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getMaxAccelerationScalingFactor()

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

inline

Definition at line 373 of file move_group_interface.cpp.

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getMaxVelocityScalingFactor()

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

inline

Definition at line 363 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 229 of file move_group_interface.cpp.

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getOptions()

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

inline

Definition at line 214 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 1128 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 348 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 267 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 318 of file move_group_interface.cpp.

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getPlanningTime()

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

inline

Definition at line 1006 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 591 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 551 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 569 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 219 of file move_group_interface.cpp.

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getStartState()

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

inline

Definition at line 428 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 400 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 405 of file move_group_interface.cpp.

getTargetType()

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

inline

Definition at line 601 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 209 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 1140 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 545 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 1152 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 721 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 644 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 490 of file move_group_interface.cpp.

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setGoalJointTolerance()

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

inline

Definition at line 985 of file move_group_interface.cpp.

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setGoalOrientationTolerance()

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

inline

Definition at line 995 of file move_group_interface.cpp.

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setGoalPositionTolerance()

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

inline

Definition at line 990 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 436 of file move_group_interface.cpp.

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setMaxAccelerationScalingFactor()

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

inline

Definition at line 368 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 378 of file move_group_interface.cpp.

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setMaxVelocityScalingFactor()

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

inline

Definition at line 358 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 353 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 1075 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 1080 of file move_group_interface.cpp.

setPlannerId()

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

inline

Definition at line 343 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 285 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 307 of file move_group_interface.cpp.

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setPlanningTime()

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

inline

Definition at line 1000 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 586 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 526 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 415 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 410 of file move_group_interface.cpp.

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setStartStateToCurrentState()

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

inline

Definition at line 421 of file move_group_interface.cpp.

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setTargetType()

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

inline

Definition at line 596 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 1103 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 1161 of file move_group_interface.cpp.

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startStateMonitor()

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

inline

Definition at line 606 of file move_group_interface.cpp.

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stop()

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

inline

Definition at line 900 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