moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | Protected Attributes | List of all members
moveit_setup::srdf_setup::RobotPoses Class Reference

#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::RobotStategetState ()
 
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
 
SetupStepoperator= (const SetupStep &)=default
 
SetupStepoperator= (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< SRDFConfigsrdf_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_errorif 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: