Class to define a robot configuration in space with the help of cartesian coordinates. More...

#include <cartesianconfiguration.hpp>

Inheritance diagram for pilz_industrial_motion_planner_testutils::CartesianConfiguration:

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Public Member Functions
	CartesianConfiguration ()
	CartesianConfiguration (const std::string &group_name, const std::string &link_name, const std::vector< double > &config)
	CartesianConfiguration (const std::string &group_name, const std::string &link_name, const std::vector< double > &config, const moveit::core::RobotModelConstPtr &robot_model)
moveit_msgs::msg::Constraints	toGoalConstraints () const override
moveit_msgs::msg::RobotState	toMoveitMsgsRobotState () const override
void	setLinkName (const std::string &link_name)
const std::string &	getLinkName () const
void	setPose (const geometry_msgs::msg::Pose &pose)
const geometry_msgs::msg::Pose &	getPose () const
geometry_msgs::msg::Pose &	getPose ()
void	setSeed (const JointConfiguration &config)
const JointConfiguration &	getSeed () const
bool	hasSeed () const
	States if a seed for the cartesian configuration is set.
void	setPoseTolerance (const double tol)
const std::optional< double >	getPoseTolerance () const
void	setAngleTolerance (const double tol)
const std::optional< double >	getAngleTolerance () const
Public Member Functions inherited from pilz_industrial_motion_planner_testutils::RobotConfiguration
	RobotConfiguration ()
	RobotConfiguration (const std::string &group_name)
	RobotConfiguration (const std::string &group_name, const moveit::core::RobotModelConstPtr &robot_model)
void	setRobotModel (moveit::core::RobotModelConstPtr robot_model)
void	setGroupName (const std::string &group_name)
std::string	getGroupName () const
void	clearModel ()
Public Member Functions inherited from pilz_industrial_motion_planner_testutils::RobotStateMsgConvertible
	RobotStateMsgConvertible ()=default
	RobotStateMsgConvertible (const RobotStateMsgConvertible &)=default
	RobotStateMsgConvertible (RobotStateMsgConvertible &&)=default
RobotStateMsgConvertible &	operator= (const RobotStateMsgConvertible &)=default
RobotStateMsgConvertible &	operator= (RobotStateMsgConvertible &&)=default
virtual	~RobotStateMsgConvertible ()=default
Public Member Functions inherited from pilz_industrial_motion_planner_testutils::GoalConstraintMsgConvertible
	GoalConstraintMsgConvertible ()=default
	GoalConstraintMsgConvertible (const GoalConstraintMsgConvertible &)=default
	GoalConstraintMsgConvertible (GoalConstraintMsgConvertible &&)=default
GoalConstraintMsgConvertible &	operator= (const GoalConstraintMsgConvertible &)=default
GoalConstraintMsgConvertible &	operator= (GoalConstraintMsgConvertible &&)=default
virtual	~GoalConstraintMsgConvertible ()=default

Additional Inherited Members
Protected Attributes inherited from pilz_industrial_motion_planner_testutils::RobotConfiguration
std::string	group_name_
moveit::core::RobotModelConstPtr	robot_model_

Detailed Description

Class to define a robot configuration in space with the help of cartesian coordinates.

Definition at line 57 of file cartesianconfiguration.hpp.

Constructor & Destructor Documentation

◆ CartesianConfiguration() [1/3]

pilz_industrial_motion_planner_testutils::CartesianConfiguration::CartesianConfiguration ( )

Definition at line 42 of file cartesianconfiguration.cpp.

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◆ CartesianConfiguration() [2/3]

pilz_industrial_motion_planner_testutils::CartesianConfiguration::CartesianConfiguration	(	const std::string &	group_name,
		const std::string &	link_name,
		const std::vector< double > &	config )

Definition at line 46 of file cartesianconfiguration.cpp.

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◆ CartesianConfiguration() [3/3]

pilz_industrial_motion_planner_testutils::CartesianConfiguration::CartesianConfiguration	(	const std::string &	group_name,
		const std::string &	link_name,
		const std::vector< double > &	config,
		const moveit::core::RobotModelConstPtr &	robot_model )

Definition at line 52 of file cartesianconfiguration.cpp.

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Member Function Documentation

◆ getAngleTolerance()

const std::optional< double > pilz_industrial_motion_planner_testutils::CartesianConfiguration::getAngleTolerance ( ) const

inline

Definition at line 179 of file cartesianconfiguration.hpp.

◆ getLinkName()

const std::string & pilz_industrial_motion_planner_testutils::CartesianConfiguration::getLinkName ( ) const

inline

Definition at line 116 of file cartesianconfiguration.hpp.

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◆ getPose() [1/2]

geometry_msgs::msg::Pose & pilz_industrial_motion_planner_testutils::CartesianConfiguration::getPose ( )

inline

Definition at line 131 of file cartesianconfiguration.hpp.

◆ getPose() [2/2]

const geometry_msgs::msg::Pose & pilz_industrial_motion_planner_testutils::CartesianConfiguration::getPose ( ) const

inline

Definition at line 126 of file cartesianconfiguration.hpp.

◆ getPoseTolerance()

const std::optional< double > pilz_industrial_motion_planner_testutils::CartesianConfiguration::getPoseTolerance ( ) const

inline

Definition at line 169 of file cartesianconfiguration.hpp.

◆ getSeed()

const JointConfiguration & pilz_industrial_motion_planner_testutils::CartesianConfiguration::getSeed ( ) const

inline

Definition at line 154 of file cartesianconfiguration.hpp.

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◆ hasSeed()

bool pilz_industrial_motion_planner_testutils::CartesianConfiguration::hasSeed ( ) const

inline

States if a seed for the cartesian configuration is set.

Definition at line 159 of file cartesianconfiguration.hpp.

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◆ setAngleTolerance()

void pilz_industrial_motion_planner_testutils::CartesianConfiguration::setAngleTolerance ( const double tol )

inline

Definition at line 174 of file cartesianconfiguration.hpp.

◆ setLinkName()

void pilz_industrial_motion_planner_testutils::CartesianConfiguration::setLinkName ( const std::string & link_name )

inline

Definition at line 111 of file cartesianconfiguration.hpp.

◆ setPose()

void pilz_industrial_motion_planner_testutils::CartesianConfiguration::setPose ( const geometry_msgs::msg::Pose & pose )

inline

Definition at line 121 of file cartesianconfiguration.hpp.

◆ setPoseTolerance()

void pilz_industrial_motion_planner_testutils::CartesianConfiguration::setPoseTolerance ( const double tol )

inline

Definition at line 164 of file cartesianconfiguration.hpp.

◆ setSeed()

void pilz_industrial_motion_planner_testutils::CartesianConfiguration::setSeed ( const JointConfiguration & config )

inline

Definition at line 149 of file cartesianconfiguration.hpp.

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◆ toGoalConstraints()

moveit_msgs::msg::Constraints pilz_industrial_motion_planner_testutils::CartesianConfiguration::toGoalConstraints ( ) const

inlineoverridevirtual

Implements pilz_industrial_motion_planner_testutils::GoalConstraintMsgConvertible.

Definition at line 136 of file cartesianconfiguration.hpp.

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◆ toMoveitMsgsRobotState()

moveit_msgs::msg::RobotState pilz_industrial_motion_planner_testutils::CartesianConfiguration::toMoveitMsgsRobotState ( ) const

overridevirtual

Implements pilz_industrial_motion_planner_testutils::RobotStateMsgConvertible.

Definition at line 93 of file cartesianconfiguration.cpp.

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

moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/cartesianconfiguration.hpp
moveit_planners/pilz_industrial_motion_planner_testutils/src/cartesianconfiguration.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianConfiguration() [1/3]

◆ CartesianConfiguration() [2/3]

◆ CartesianConfiguration() [3/3]

Member Function Documentation

◆ getAngleTolerance()

◆ getLinkName()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ getPoseTolerance()

◆ getSeed()

◆ hasSeed()

◆ setAngleTolerance()

◆ setLinkName()

◆ setPose()

◆ setPoseTolerance()

◆ setSeed()

◆ toGoalConstraints()

◆ toMoveitMsgsRobotState()