moveit_servo::Servo Class Reference

#include <servo.hpp>

Public Member Functions
	Servo (const rclcpp::Node::SharedPtr &node, std::shared_ptr< const servo::ParamListener > servo_param_listener, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor)
	~Servo ()
	Servo (const Servo &)=delete
Servo &	operator= (Servo &)=delete
KinematicState	getNextJointState (const moveit::core::RobotStatePtr &robot_state, const ServoInput &command)
	Computes the joint state required to follow the given command.
void	setCommandType (const CommandType &command_type)
	Set the type of incoming servo command.
CommandType	getCommandType () const
	Get the type of command that servo is currently expecting.
StatusCode	getStatus () const
	Get the current status of servo.
std::string	getStatusMessage () const
	Get the message associated with the current servo status.
void	setCollisionChecking (const bool check_collision)
	Start/Stop collision checking thread.
servo::Params &	getParams ()
	Returns the most recent servo parameters.
KinematicState	getCurrentRobotState (bool block_for_current_state) const
	Get the current state of the robot as given by planning scene monitor. This may block if a current robot state is not available immediately.
std::pair< bool, KinematicState >	smoothHalt (const KinematicState &halt_state)
	Smoothly halt at a commanded state when command goes stale.
void	doSmoothing (KinematicState &state)
	Applies smoothing to an input state, if a smoothing plugin is set.
void	resetSmoothing (const KinematicState &state)
	Resets the smoothing plugin, if set, to a specified state.

Detailed Description

Definition at line 62 of file servo.hpp.

Constructor & Destructor Documentation

Servo() [1/2]

moveit_servo::Servo::Servo	(	const rclcpp::Node::SharedPtr &	node,
		std::shared_ptr< const servo::ParamListener >	servo_param_listener,
		const planning_scene_monitor::PlanningSceneMonitorPtr &	planning_scene_monitor
	)

Definition at line 58 of file servo.cpp.

~Servo()

moveit_servo::Servo::~Servo

(

)

Definition at line 132 of file servo.cpp.

Here is the call graph for this function:

Servo() [2/2]

moveit_servo::Servo::Servo ( const Servo &  )

delete

Member Function Documentation

doSmoothing()

void moveit_servo::Servo::doSmoothing

(

KinematicState &

state

)

Applies smoothing to an input state, if a smoothing plugin is set.

Parameters

state

The state to be updated by the smoothing plugin.

Definition at line 164 of file servo.cpp.

Here is the caller graph for this function:

getCommandType()

CommandType moveit_servo::Servo::getCommandType

(

)

const

Get the type of command that servo is currently expecting.

Returns

The type of command.

Definition at line 327 of file servo.cpp.

getCurrentRobotState()

KinematicState moveit_servo::Servo::getCurrentRobotState

(

bool

block_for_current_state

)

const

Get the current state of the robot as given by planning scene monitor. This may block if a current robot state is not available immediately.

Parameters

block_for_current_state

If true, we explicitly wait for a new robot state

Returns

The current state of the robot.

Definition at line 644 of file servo.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

getNextJointState()

KinematicState moveit_servo::Servo::getNextJointState	(	const moveit::core::RobotStatePtr &	robot_state,
		const ServoInput &	command
	)

Computes the joint state required to follow the given command.

Parameters

robot_state	RobotStatePtr instance used for calculating the next joint state.
command	The command to follow, std::variant type, can handle JointJog, Twist and Pose.

Returns

The required joint state.

Definition at line 470 of file servo.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

getParams()

servo::Params & moveit_servo::Servo::getParams

(

)

Returns the most recent servo parameters.

Definition at line 312 of file servo.cpp.

getStatus()

StatusCode moveit_servo::Servo::getStatus

(

)

const

Get the current status of servo.

Returns

The current status.

Definition at line 317 of file servo.cpp.

Here is the caller graph for this function:

getStatusMessage()

std::string moveit_servo::Servo::getStatusMessage

(

)

const

Get the message associated with the current servo status.

Returns

The status message.

Definition at line 322 of file servo.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

operator=()

Servo & moveit_servo::Servo::operator= ( Servo &  )

delete

resetSmoothing()

void moveit_servo::Servo::resetSmoothing

(

const KinematicState &

state

)

Resets the smoothing plugin, if set, to a specified state.

Parameters

state

The desired state to reset the smoothing plugin to.

Definition at line 172 of file servo.cpp.

setCollisionChecking()

void moveit_servo::Servo::setCollisionChecking

(

const bool

check_collision

)

Start/Stop collision checking thread.

Parameters

check_collision

Stops collision checking thread if false, starts it if true.

Definition at line 180 of file servo.cpp.

Here is the caller graph for this function:

setCommandType()

void moveit_servo::Servo::setCommandType

(

const CommandType &

command_type

)

Set the type of incoming servo command.

Parameters

command_type

The type of command servo should expect.

Definition at line 332 of file servo.cpp.

Here is the caller graph for this function:

smoothHalt()

std::pair< bool, KinematicState > moveit_servo::Servo::smoothHalt

(

const KinematicState &

halt_state

)

Smoothly halt at a commanded state when command goes stale.

Parameters

halt_state

The desired stop state.

Returns

The next state stepping towards the required halting state.

Definition at line 663 of file servo.cpp.

Here is the call graph for this function:

---

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

• moveit_ros/moveit_servo/include/moveit_servo/servo.hpp
• moveit_ros/moveit_servo/src/servo.cpp