#include <robot_poses.hpp>

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Public Member Functions
std::string	getName () const override
	Returns the name of the setup step.

void	onInit () override
	Overridable initialization method.

bool	isReady () const override
	Return true if the data necessary to proceed with this step has been configured.

std::vector< std::string >	getGroupNames () const

srdf::Model::GroupState *	findPoseByName (const std::string &name, const std::string &group)

std::vector< srdf::Model::GroupState > &	getGroupStates ()

moveit::core::RobotState &	getState ()

void	publishState (const moveit::core::RobotState &robot_state)
	Publish the given state on the moveit_robot_state topic.

bool	checkSelfCollision (const moveit::core::RobotState &robot_state)
	Check if the given robot state is in collision.

std::vector< const moveit::core::JointModel * >	getSimpleJointModels (const std::string &group_name) const
	Returns a vector of joint models for the given group name.

void	removePoseByName (const std::string &pose_name, const std::string &group_name)

void	setToCurrentValues (srdf::Model::GroupState &group_state)

void	loadAllowedCollisionMatrix ()
	Load the allowed collision matrix from the SRDF's list of link pairs.

Public Member Functions inherited from moveit_setup::srdf_setup::SRDFStep
void	onInit () override
	Overridable initialization method.

bool	isReady () const override
	Return true if the data necessary to proceed with this step has been configured.

bool	hasGroups () const

Public Member Functions inherited from moveit_setup::SetupStep
	SetupStep ()=default

	SetupStep (const SetupStep &)=default

	SetupStep (SetupStep &&)=default

SetupStep &	operator= (const SetupStep &)=default

SetupStep &	operator= (SetupStep &&)=default

virtual	~SetupStep ()=default

void	initialize (const rclcpp::Node::SharedPtr &parent_node, const DataWarehousePtr &config_data)
	Called after construction to initialize the step.

const rclcpp::Logger &	getLogger () const
	Makes a namespaced logger for this step available to the widget.

Protected Attributes
rclcpp::Publisher< moveit_msgs::msg::DisplayRobotState >::SharedPtr	pub_robot_state_
	Remember the publisher for quick publishing later.

collision_detection::CollisionRequest	request_

collision_detection::AllowedCollisionMatrix	allowed_collision_matrix_
	Allowed collision matrix for robot poses.

Protected Attributes inherited from moveit_setup::srdf_setup::SRDFStep
std::shared_ptr< SRDFConfig >	srdf_config_

Protected Attributes inherited from moveit_setup::SetupStep
DataWarehousePtr	config_data_

rclcpp::Node::SharedPtr	parent_node_

std::shared_ptr< rclcpp::Logger >	logger_

Detailed Description

Definition at line 46 of file robot_poses.hpp.

Member Function Documentation

◆ checkSelfCollision()

bool moveit_setup::srdf_setup::RobotPoses::checkSelfCollision ( const moveit::core::RobotState & robot_state )

Check if the given robot state is in collision.

Definition at line 111 of file robot_poses.cpp.

◆ findPoseByName()

srdf::Model::GroupState * moveit_setup::srdf_setup::RobotPoses::findPoseByName	(	const std::string &	name,
		const std::string &	group
	)

Find the associated data by name

Parameters

name	- name of data to find in datastructure

Returns: pointer to data in datastructure

Definition at line 66 of file robot_poses.cpp.

◆ getGroupNames()

std::vector< std::string > moveit_setup::srdf_setup::RobotPoses::getGroupNames ( ) const

inline

Definition at line 61 of file robot_poses.hpp.

◆ getGroupStates()

std::vector< srdf::Model::GroupState > & moveit_setup::srdf_setup::RobotPoses::getGroupStates ( )

inline

Definition at line 74 of file robot_poses.hpp.

◆ getName()

std::string moveit_setup::srdf_setup::RobotPoses::getName ( ) const

inlineoverridevirtual

Returns the name of the setup step.

Implements moveit_setup::SetupStep.

Definition at line 49 of file robot_poses.hpp.

◆ getSimpleJointModels()

std::vector< const moveit::core::JointModel * > moveit_setup::srdf_setup::RobotPoses::getSimpleJointModels ( const std::string & group_name ) const

Returns a vector of joint models for the given group name.

Exceptions

runtime_error if the group does not exist

Note: "Simple" means we exclude Passive/Mimic/MultiDOF joints

Definition at line 119 of file robot_poses.cpp.

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◆ getState()

moveit::core::RobotState & moveit_setup::srdf_setup::RobotPoses::getState ( )

inline

Definition at line 79 of file robot_poses.hpp.

◆ isReady()

bool moveit_setup::srdf_setup::RobotPoses::isReady ( ) const

inlineoverridevirtual

Return true if the data necessary to proceed with this step has been configured.

Reimplemented from moveit_setup::SetupStep.

Definition at line 56 of file robot_poses.hpp.

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◆ loadAllowedCollisionMatrix()

void moveit_setup::srdf_setup::RobotPoses::loadAllowedCollisionMatrix ( )

Load the allowed collision matrix from the SRDF's list of link pairs.

Definition at line 86 of file robot_poses.cpp.

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◆ onInit()

void moveit_setup::srdf_setup::RobotPoses::onInit ( )

overridevirtual

Overridable initialization method.

Reimplemented from moveit_setup::SetupStep.

Definition at line 44 of file robot_poses.cpp.

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◆ publishState()

void moveit_setup::srdf_setup::RobotPoses::publishState ( const moveit::core::RobotState & robot_state )

Publish the given state on the moveit_robot_state topic.

Definition at line 101 of file robot_poses.cpp.

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◆ removePoseByName()

void moveit_setup::srdf_setup::RobotPoses::removePoseByName	(	const std::string &	pose_name,
		const std::string &	group_name
	)

inline

Definition at line 102 of file robot_poses.hpp.

◆ setToCurrentValues()

void moveit_setup::srdf_setup::RobotPoses::setToCurrentValues ( srdf::Model::GroupState & group_state )

Definition at line 143 of file robot_poses.cpp.

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Member Data Documentation

◆ allowed_collision_matrix_

collision_detection::AllowedCollisionMatrix moveit_setup::srdf_setup::RobotPoses::allowed_collision_matrix_

protected

Allowed collision matrix for robot poses.

Definition at line 122 of file robot_poses.hpp.

◆ pub_robot_state_

rclcpp::Publisher<moveit_msgs::msg::DisplayRobotState>::SharedPtr moveit_setup::srdf_setup::RobotPoses::pub_robot_state_

protected

Remember the publisher for quick publishing later.

Definition at line 114 of file robot_poses.hpp.

◆ request_

collision_detection::CollisionRequest moveit_setup::srdf_setup::RobotPoses::request_

protected

Definition at line 119 of file robot_poses.hpp.

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

moveit_setup_assistant/moveit_setup_srdf_plugins/include/moveit_setup_srdf_plugins/robot_poses.hpp
moveit_setup_assistant/moveit_setup_srdf_plugins/src/robot_poses.cpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ checkSelfCollision()

◆ findPoseByName()

◆ getGroupNames()

◆ getGroupStates()

◆ getName()

◆ getSimpleJointModels()

◆ getState()

◆ isReady()

◆ loadAllowedCollisionMatrix()

◆ onInit()

◆ publishState()

◆ removePoseByName()

◆ setToCurrentValues()

Member Data Documentation

◆ allowed_collision_matrix_

◆ pub_robot_state_

◆ request_