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. More...
void	setCommandType (const CommandType &command_type)
	Set the type of incoming servo command. More...
CommandType	getCommandType () const
	Get the type of command that servo is currently expecting. More...
StatusCode	getStatus () const
	Get the current status of servo. More...
std::string	getStatusMessage () const
	Get the message associated with the current servo status. More...
void	setCollisionChecking (const bool check_collision)
	Start/Stop collision checking thread. More...
servo::Params &	getParams ()
	Returns the most recent servo parameters. More...
KinematicState	getCurrentRobotState () const
	Get the current state of the robot as given by planning scene monitor. More...
std::pair< bool, KinematicState >	smoothHalt (const KinematicState &halt_state)
	Smoothly halt at a commanded state when command goes stale. More...
void	doSmoothing (KinematicState &state)
	Applies smoothing to an input state, if a smoothing plugin is set. More...
void	resetSmoothing (const KinematicState &state)
	Resets the smoothing plugin, if set, to a specified state. More...

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.

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~Servo()

moveit_servo::Servo::~Servo

(

)

Definition at line 131 of file servo.cpp.

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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.

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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 330 of file servo.cpp.

getCurrentRobotState()

KinematicState moveit_servo::Servo::getCurrentRobotState

(

)

const

Get the current state of the robot as given by planning scene monitor.

Returns

The current state of the robot.

Definition at line 650 of file servo.cpp.

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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 473 of file servo.cpp.

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getParams()

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

(

)

Returns the most recent servo parameters.

Definition at line 315 of file servo.cpp.

getStatus()

StatusCode moveit_servo::Servo::getStatus

(

)

const

Get the current status of servo.

Returns

The current status.

Definition at line 320 of file servo.cpp.

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getStatusMessage()

std::string moveit_servo::Servo::getStatusMessage

(

)

const

Get the message associated with the current servo status.

Returns

The status message.

Definition at line 325 of file servo.cpp.

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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.

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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.

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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 335 of file servo.cpp.

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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 656 of file servo.cpp.

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---

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