#include <moveit_cpp.h>

Classes
struct	Options
	Parameter container for initializing MoveItCpp. More...

struct	PlanningPipelineOptions
	struct contains the the variables used for loading the planning pipeline More...

struct	PlanningSceneMonitorOptions
	Specification of options to use when constructing the MoveItCpp class. More...

Public Member Functions
	MoveItCpp (const rclcpp::Node::SharedPtr &node)
	Constructor.

	MoveItCpp (const rclcpp::Node::SharedPtr &node, const Options &options)

	MoveItCpp (const MoveItCpp &)=delete
	This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required.

MoveItCpp &	operator= (const MoveItCpp &)=delete

	MoveItCpp (MoveItCpp &&other)=default

MoveItCpp &	operator= (MoveItCpp &&other)=default

	~MoveItCpp ()
	Destructor.

moveit::core::RobotModelConstPtr	getRobotModel () const
	Get the RobotModel object.

const rclcpp::Node::SharedPtr &	getNode () const
	Get the ROS node this instance operates on.

bool	getCurrentState (moveit::core::RobotStatePtr &current_state, double wait_seconds)
	Get the current state queried from the current state monitor.

moveit::core::RobotStatePtr	getCurrentState (double wait_seconds=0.0)
	Get the current state queried from the current state monitor.

const std::unordered_map< std::string, planning_pipeline::PlanningPipelinePtr > &	getPlanningPipelines () const
	Get all loaded planning pipeline instances mapped to their reference names.

planning_scene_monitor::PlanningSceneMonitorConstPtr	getPlanningSceneMonitor () const
	Get the stored instance of the planning scene monitor.

planning_scene_monitor::PlanningSceneMonitorPtr	getPlanningSceneMonitorNonConst ()

std::shared_ptr< const tf2_ros::Buffer >	getTFBuffer () const

std::shared_ptr< tf2_ros::Buffer >	getTFBuffer ()

trajectory_execution_manager::TrajectoryExecutionManagerConstPtr	getTrajectoryExecutionManager () const
	Get the stored instance of the trajectory execution manager.

trajectory_execution_manager::TrajectoryExecutionManagerPtr	getTrajectoryExecutionManagerNonConst ()

moveit_controller_manager::ExecutionStatus	execute (const robot_trajectory::RobotTrajectoryPtr &robot_trajectory, bool blocking, const std::vector< std::string > &controllers=std::vector< std::string >())
	Execute a trajectory on the planning group specified by the robot's trajectory using the trajectory execution manager.

moveit_controller_manager::ExecutionStatus	execute (const robot_trajectory::RobotTrajectoryPtr &robot_trajectory, const std::vector< std::string > &controllers=std::vector< std::string >())

bool	terminatePlanningPipeline (const std::string &pipeline_name)
	Utility to terminate the given planning pipeline.

Detailed Description

Definition at line 54 of file moveit_cpp.h.

Constructor & Destructor Documentation

◆ MoveItCpp() [1/4]

moveit_cpp::MoveItCpp::MoveItCpp ( const rclcpp::Node::SharedPtr & node )

Constructor.

Definition at line 48 of file moveit_cpp.cpp.

◆ MoveItCpp() [2/4]

moveit_cpp::MoveItCpp::MoveItCpp	(	const rclcpp::Node::SharedPtr &	node,
		const Options &	options
	)

Definition at line 52 of file moveit_cpp.cpp.

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◆ MoveItCpp() [3/4]

moveit_cpp::MoveItCpp::MoveItCpp ( const MoveItCpp & )

delete

This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required.

◆ MoveItCpp() [4/4]

moveit_cpp::MoveItCpp::MoveItCpp ( MoveItCpp && other )

default

◆ ~MoveItCpp()

moveit_cpp::MoveItCpp::~MoveItCpp ( )

Destructor.

Definition at line 85 of file moveit_cpp.cpp.

Member Function Documentation

◆ execute() [1/2]

moveit_controller_manager::ExecutionStatus moveit_cpp::MoveItCpp::execute	(	const robot_trajectory::RobotTrajectoryPtr &	robot_trajectory,
		bool	blocking,
		const std::vector< std::string > &	controllers = `std::vector<std::string>()`
	)

Execute a trajectory on the planning group specified by the robot's trajectory using the trajectory execution manager.

Parameters

[in]	robot_trajectory	Contains trajectory info as well as metadata such as a RobotModel.
[in]	controllers	An optional list of ros2_controllers to execute with. If none, MoveIt will attempt to find a controller. The exact behavior of finding a controller depends on which MoveItControllerManager plugin is active.

Returns: moveit_controller_manager::ExecutionStatus::SUCCEEDED if successful

Definition at line 197 of file moveit_cpp.cpp.

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◆ execute() [2/2]

moveit_controller_manager::ExecutionStatus moveit_cpp::MoveItCpp::execute	(	const robot_trajectory::RobotTrajectoryPtr &	robot_trajectory,
		const std::vector< std::string > &	controllers = `std::vector<std::string>()`
	)

Definition at line 204 of file moveit_cpp.cpp.

◆ getCurrentState() [1/2]

moveit::core::RobotStatePtr moveit_cpp::MoveItCpp::getCurrentState ( double wait_seconds = 0.0 )

Get the current state queried from the current state monitor.

Parameters

wait_seconds the time in seconds for the state monitor to wait for a robot state.

Definition at line 164 of file moveit_cpp.cpp.

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◆ getCurrentState() [2/2]

bool moveit_cpp::MoveItCpp::getCurrentState	(	moveit::core::RobotStatePtr &	current_state,
		double	wait_seconds
	)

Get the current state queried from the current state monitor.

Parameters

wait_seconds the time in seconds for the state monitor to wait for a robot state.

Definition at line 150 of file moveit_cpp.cpp.

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◆ getNode()

const rclcpp::Node::SharedPtr & moveit_cpp::MoveItCpp::getNode ( ) const

Get the ROS node this instance operates on.

Definition at line 145 of file moveit_cpp.cpp.

◆ getPlanningPipelines()

const std::unordered_map< std::string, planning_pipeline::PlanningPipelinePtr > & moveit_cpp::MoveItCpp::getPlanningPipelines ( ) const

Get all loaded planning pipeline instances mapped to their reference names.

Definition at line 171 of file moveit_cpp.cpp.

◆ getPlanningSceneMonitor()

planning_scene_monitor::PlanningSceneMonitorConstPtr moveit_cpp::MoveItCpp::getPlanningSceneMonitor ( ) const

Get the stored instance of the planning scene monitor.

Definition at line 176 of file moveit_cpp.cpp.

◆ getPlanningSceneMonitorNonConst()

planning_scene_monitor::PlanningSceneMonitorPtr moveit_cpp::MoveItCpp::getPlanningSceneMonitorNonConst ( )

Definition at line 181 of file moveit_cpp.cpp.

◆ getRobotModel()

moveit::core::RobotModelConstPtr moveit_cpp::MoveItCpp::getRobotModel ( ) const

Get the RobotModel object.

Definition at line 140 of file moveit_cpp.cpp.

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◆ getTFBuffer() [1/2]

std::shared_ptr< tf2_ros::Buffer > moveit_cpp::MoveItCpp::getTFBuffer ( )

Definition at line 253 of file moveit_cpp.cpp.

◆ getTFBuffer() [2/2]

std::shared_ptr< const tf2_ros::Buffer > moveit_cpp::MoveItCpp::getTFBuffer ( ) const

Definition at line 249 of file moveit_cpp.cpp.

◆ getTrajectoryExecutionManager()

trajectory_execution_manager::TrajectoryExecutionManagerConstPtr moveit_cpp::MoveItCpp::getTrajectoryExecutionManager ( ) const

Get the stored instance of the trajectory execution manager.

Definition at line 186 of file moveit_cpp.cpp.

◆ getTrajectoryExecutionManagerNonConst()

trajectory_execution_manager::TrajectoryExecutionManagerPtr moveit_cpp::MoveItCpp::getTrajectoryExecutionManagerNonConst ( )

Definition at line 191 of file moveit_cpp.cpp.

◆ operator=() [1/2]

MoveItCpp & moveit_cpp::MoveItCpp::operator= ( const MoveItCpp & )

delete

◆ operator=() [2/2]

MoveItCpp & moveit_cpp::MoveItCpp::operator= ( MoveItCpp && other )

default

◆ terminatePlanningPipeline()

bool moveit_cpp::MoveItCpp::terminatePlanningPipeline ( const std::string & pipeline_name )

Utility to terminate the given planning pipeline.

Definition at line 230 of file moveit_cpp.cpp.

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

moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MoveItCpp() [1/4]

◆ MoveItCpp() [2/4]

◆ MoveItCpp() [3/4]

◆ MoveItCpp() [4/4]

◆ ~MoveItCpp()

Member Function Documentation

◆ execute() [1/2]

◆ execute() [2/2]

◆ getCurrentState() [1/2]

◆ getCurrentState() [2/2]

◆ getNode()

◆ getPlanningPipelines()

◆ getPlanningSceneMonitor()

◆ getPlanningSceneMonitorNonConst()

◆ getRobotModel()

◆ getTFBuffer() [1/2]

◆ getTFBuffer() [2/2]

◆ getTrajectoryExecutionManager()

◆ getTrajectoryExecutionManagerNonConst()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ terminatePlanningPipeline()