planning_scene::PlanningScene Class Reference

This class maintains the representation of the environment as seen by a planning instance. The environment geometry, the robot geometry and state are maintained. More...

#include <planning_scene.h>

Inheritance diagram for planning_scene::PlanningScene:

Collaboration diagram for planning_scene::PlanningScene:

Public Member Functions
	PlanningScene (const PlanningScene &)=delete
	PlanningScene cannot be copy-constructed.
PlanningScene &	operator= (const PlanningScene &)=delete
	PlanningScene cannot be copy-assigned.
	PlanningScene (const moveit::core::RobotModelConstPtr &robot_model, const collision_detection::WorldPtr &world=std::make_shared< collision_detection::World >())
	construct using an existing RobotModel
	PlanningScene (const urdf::ModelInterfaceSharedPtr &urdf_model, const srdf::ModelConstSharedPtr &srdf_model, const collision_detection::WorldPtr &world=std::make_shared< collision_detection::World >())
	construct using a urdf and srdf. A RobotModel for the PlanningScene will be created using the urdf and srdf.
	~PlanningScene ()
const std::string &	getName () const
	Get the name of the planning scene. This is empty by default.
void	setName (const std::string &name)
	Set the name of the planning scene.
PlanningScenePtr	diff () const
	Return a new child PlanningScene that uses this one as parent.
PlanningScenePtr	diff (const moveit_msgs::msg::PlanningScene &msg) const
	Return a new child PlanningScene that uses this one as parent and has the diffs specified by msg applied.
const PlanningSceneConstPtr &	getParent () const
	Get the parent scene (with respect to which the diffs are maintained). This may be empty.
const moveit::core::RobotModelConstPtr &	getRobotModel () const
	Get the kinematic model for which the planning scene is maintained.
const moveit::core::RobotState &	getCurrentState () const
	Get the state at which the robot is assumed to be.
moveit::core::RobotState &	getCurrentStateNonConst ()
	Get the state at which the robot is assumed to be.
moveit::core::RobotStatePtr	getCurrentStateUpdated (const moveit_msgs::msg::RobotState &update) const
	Get a copy of the current state with components overwritten by the state message update.
void	saveGeometryToStream (std::ostream &out) const
	Save the geometry of the planning scene to a stream, as plain text.
bool	loadGeometryFromStream (std::istream &in)
	Load the geometry of the planning scene from a stream.
bool	loadGeometryFromStream (std::istream &in, const Eigen::Isometry3d &offset)
	Load the geometry of the planning scene from a stream at a certain location using offset.
void	getPlanningSceneDiffMsg (moveit_msgs::msg::PlanningScene &scene) const
	Fill the message scene with the differences between this instance of PlanningScene with respect to the parent. If there is no parent, everything is considered to be a diff and the function behaves like getPlanningSceneMsg()
void	getPlanningSceneMsg (moveit_msgs::msg::PlanningScene &scene) const
	Construct a message (scene) with all the necessary data so that the scene can be later reconstructed to be exactly the same using setPlanningSceneMsg()
void	getPlanningSceneMsg (moveit_msgs::msg::PlanningScene &scene, const moveit_msgs::msg::PlanningSceneComponents &comp) const
	Construct a message (scene) with the data requested in comp. If all options in comp are filled, this will be a complete planning scene message.
bool	getCollisionObjectMsg (moveit_msgs::msg::CollisionObject &collision_obj, const std::string &ns) const
	Construct a message (collision_object) with the collision object data from the planning_scene for the requested object.
void	getCollisionObjectMsgs (std::vector< moveit_msgs::msg::CollisionObject > &collision_objs) const
	Construct a vector of messages (collision_objects) with the collision object data for all objects in planning_scene.
bool	getAttachedCollisionObjectMsg (moveit_msgs::msg::AttachedCollisionObject &attached_collision_obj, const std::string &ns) const
	Construct a message (attached_collision_object) with the attached collision object data from the planning_scene for the requested object.
void	getAttachedCollisionObjectMsgs (std::vector< moveit_msgs::msg::AttachedCollisionObject > &attached_collision_objs) const
	Construct a vector of messages (attached_collision_objects) with the attached collision object data for all objects in planning_scene.
bool	getOctomapMsg (octomap_msgs::msg::OctomapWithPose &octomap) const
	Construct a message (octomap) with the octomap data from the planning_scene.
void	getObjectColorMsgs (std::vector< moveit_msgs::msg::ObjectColor > &object_colors) const
	Construct a vector of messages (object_colors) with the colors of the objects from the planning_scene.
bool	setPlanningSceneDiffMsg (const moveit_msgs::msg::PlanningScene &scene)
	Apply changes to this planning scene as diffs, even if the message itself is not marked as being a diff (is_diff member). A parent is not required to exist. However, the existing data in the planning instance is not cleared. Data from the message is only appended (and in cases such as e.g., the robot state, is overwritten).
bool	setPlanningSceneMsg (const moveit_msgs::msg::PlanningScene &scene)
	Set this instance of a planning scene to be the same as the one serialized in the scene message, even if the message itself is marked as being a diff (is_diff member)
bool	usePlanningSceneMsg (const moveit_msgs::msg::PlanningScene &scene)
	Call setPlanningSceneMsg() or setPlanningSceneDiffMsg() depending on how the is_diff member of the message is set.
bool	shapesAndPosesFromCollisionObjectMessage (const moveit_msgs::msg::CollisionObject &object, Eigen::Isometry3d &object_pose_in_header_frame, std::vector< shapes::ShapeConstPtr > &shapes, EigenSTL::vector_Isometry3d &shape_poses)
	Takes the object message and returns the object pose, shapes and shape poses. If the object pose is empty (identity) but the shape pose is set, this uses the shape pose as the object pose. The shape pose becomes the identity instead.
bool	processCollisionObjectMsg (const moveit_msgs::msg::CollisionObject &object)
bool	processAttachedCollisionObjectMsg (const moveit_msgs::msg::AttachedCollisionObject &object)
bool	processPlanningSceneWorldMsg (const moveit_msgs::msg::PlanningSceneWorld &world)
void	processOctomapMsg (const octomap_msgs::msg::OctomapWithPose &map)
void	processOctomapMsg (const octomap_msgs::msg::Octomap &map)
void	processOctomapPtr (const std::shared_ptr< const octomap::OcTree > &octree, const Eigen::Isometry3d &t)
void	removeAllCollisionObjects ()
	Clear all collision objects in planning scene.
void	setCurrentState (const moveit_msgs::msg::RobotState &state)
	Set the current robot state to be state. If not all joint values are specified, the previously maintained joint values are kept.
void	setCurrentState (const moveit::core::RobotState &state)
	Set the current robot state.
void	setAttachedBodyUpdateCallback (const moveit::core::AttachedBodyCallback &callback)
	Set the callback to be triggered when changes are made to the current scene state.
void	setCollisionObjectUpdateCallback (const collision_detection::World::ObserverCallbackFn &callback)
	Set the callback to be triggered when changes are made to the current scene world.
bool	hasObjectColor (const std::string &id) const
const std_msgs::msg::ColorRGBA &	getObjectColor (const std::string &id) const
	Gets the current color of an object.
std::optional< std_msgs::msg::ColorRGBA >	getOriginalObjectColor (const std::string &id) const
	Tries to get the original color of an object, if one has been set before.
void	setObjectColor (const std::string &id, const std_msgs::msg::ColorRGBA &color)
void	removeObjectColor (const std::string &id)
void	getKnownObjectColors (ObjectColorMap &kc) const
bool	hasObjectType (const std::string &id) const
const object_recognition_msgs::msg::ObjectType &	getObjectType (const std::string &id) const
void	setObjectType (const std::string &id, const object_recognition_msgs::msg::ObjectType &type)
void	removeObjectType (const std::string &id)
void	getKnownObjectTypes (ObjectTypeMap &kc) const
void	clearDiffs ()
	Clear the diffs accumulated for this planning scene, with respect to: the parent PlanningScene (if it exists) the parent CollisionDetector (if it exists) This function is a no-op if there is no parent planning scene.
void	pushDiffs (const PlanningScenePtr &scene)
	If there is a parent specified for this scene, then the diffs with respect to that parent are applied to a specified planning scene, whatever that scene may be. If there is no parent specified, this function is a no-op.
void	decoupleParent ()
	Make sure that all the data maintained in this scene is local. All unmodified data is copied from the parent and the pointer to the parent is discarded.
void	setStateFeasibilityPredicate (const StateFeasibilityFn &fn)
	Specify a predicate that decides whether states are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation. This is useful for setting up problem specific constraints (e.g., stability)
const StateFeasibilityFn &	getStateFeasibilityPredicate () const
	Get the predicate that decides whether states are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation.
void	setMotionFeasibilityPredicate (const MotionFeasibilityFn &fn)
	Specify a predicate that decides whether motion segments are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation.
const MotionFeasibilityFn &	getMotionFeasibilityPredicate () const
	Get the predicate that decides whether motion segments are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation.
bool	isStateFeasible (const moveit_msgs::msg::RobotState &state, bool verbose=false) const
	Check if a given state is feasible, in accordance to the feasibility predicate specified by setStateFeasibilityPredicate(). Returns true if no feasibility predicate was specified.
bool	isStateFeasible (const moveit::core::RobotState &state, bool verbose=false) const
	Check if a given state is feasible, in accordance to the feasibility predicate specified by setStateFeasibilityPredicate(). Returns true if no feasibility predicate was specified.
bool	isStateConstrained (const moveit_msgs::msg::RobotState &state, const moveit_msgs::msg::Constraints &constr, bool verbose=false) const
	Check if a given state satisfies a set of constraints.
bool	isStateConstrained (const moveit::core::RobotState &state, const moveit_msgs::msg::Constraints &constr, bool verbose=false) const
	Check if a given state satisfies a set of constraints.
bool	isStateConstrained (const moveit_msgs::msg::RobotState &state, const kinematic_constraints::KinematicConstraintSet &constr, bool verbose=false) const
	Check if a given state satisfies a set of constraints.
bool	isStateConstrained (const moveit::core::RobotState &state, const kinematic_constraints::KinematicConstraintSet &constr, bool verbose=false) const
	Check if a given state satisfies a set of constraints.
bool	isStateValid (const moveit_msgs::msg::RobotState &state, const std::string &group="", bool verbose=false) const
	Check if a given state is valid. This means checking for collisions and feasibility. Includes descendent links of group.
bool	isStateValid (const moveit::core::RobotState &state, const std::string &group="", bool verbose=false) const
	Check if a given state is valid. This means checking for collisions and feasibility. Includes descendent links of group.
bool	isStateValid (const moveit_msgs::msg::RobotState &state, const moveit_msgs::msg::Constraints &constr, const std::string &group="", bool verbose=false) const
	Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. Includes descendent links of group.
bool	isStateValid (const moveit::core::RobotState &state, const moveit_msgs::msg::Constraints &constr, const std::string &group="", bool verbose=false) const
	Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. Includes descendent links of group.
bool	isStateValid (const moveit::core::RobotState &state, const kinematic_constraints::KinematicConstraintSet &constr, const std::string &group="", bool verbose=false) const
	Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. Includes descendent links of group.
bool	isPathValid (const moveit_msgs::msg::RobotState &start_state, const moveit_msgs::msg::RobotTrajectory &trajectory, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=nullptr) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility). Includes descendent links of group.
bool	isPathValid (const moveit_msgs::msg::RobotState &start_state, const moveit_msgs::msg::RobotTrajectory &trajectory, const moveit_msgs::msg::Constraints &path_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=nullptr) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. Includes descendent links of group.
bool	isPathValid (const moveit_msgs::msg::RobotState &start_state, const moveit_msgs::msg::RobotTrajectory &trajectory, const moveit_msgs::msg::Constraints &path_constraints, const moveit_msgs::msg::Constraints &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=nullptr) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. Includes descendent links of group.
bool	isPathValid (const moveit_msgs::msg::RobotState &start_state, const moveit_msgs::msg::RobotTrajectory &trajectory, const moveit_msgs::msg::Constraints &path_constraints, const std::vector< moveit_msgs::msg::Constraints > &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=nullptr) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. Includes descendent links of group.
bool	isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const moveit_msgs::msg::Constraints &path_constraints, const std::vector< moveit_msgs::msg::Constraints > &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=nullptr) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. Includes descendent links of group.
bool	isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const moveit_msgs::msg::Constraints &path_constraints, const moveit_msgs::msg::Constraints &goal_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=nullptr) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. Includes descendent links of group.
bool	isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const moveit_msgs::msg::Constraints &path_constraints, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=nullptr) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). Includes descendent links of group.
bool	isPathValid (const robot_trajectory::RobotTrajectory &trajectory, const std::string &group="", bool verbose=false, std::vector< std::size_t > *invalid_index=nullptr) const
	Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility). Includes descendent links of group.
void	getCostSources (const robot_trajectory::RobotTrajectory &trajectory, std::size_t max_costs, std::set< collision_detection::CostSource > &costs, double overlap_fraction=0.9) const
	Get the top max_costs cost sources for a specified trajectory. The resulting costs are stored in costs.
void	getCostSources (const robot_trajectory::RobotTrajectory &trajectory, std::size_t max_costs, const std::string &group_name, std::set< collision_detection::CostSource > &costs, double overlap_fraction=0.9) const
	Get the top max_costs cost sources for a specified trajectory, but only for group group_name (plus descendent links). The resulting costs are stored in costs.
void	getCostSources (const moveit::core::RobotState &state, std::size_t max_costs, std::set< collision_detection::CostSource > &costs) const
	Get the top max_costs cost sources for a specified state. The resulting costs are stored in costs.
void	getCostSources (const moveit::core::RobotState &state, std::size_t max_costs, const std::string &group_name, std::set< collision_detection::CostSource > &costs) const
	Get the top max_costs cost sources for a specified state, but only for group group_name (plus descendent links). The resulting costs are stored in costs.
void	printKnownObjects (std::ostream &out=std::cout) const
	Outputs debug information about the planning scene contents.
void	allocateCollisionDetector (const collision_detection::CollisionDetectorAllocatorPtr &allocator)
	Allocate a new collision detector and replace the previous one if there was any.
Reasoning about frames
const std::string &	getPlanningFrame () const
	Get the frame in which planning is performed.
const moveit::core::Transforms &	getTransforms () const
	Get the set of fixed transforms from known frames to the planning frame.
const moveit::core::Transforms &	getTransforms ()
	Get the set of fixed transforms from known frames to the planning frame. This variant is non-const and also updates the current state.
moveit::core::Transforms &	getTransformsNonConst ()
	Get the set of fixed transforms from known frames to the planning frame.
const Eigen::Isometry3d &	getFrameTransform (const std::string &id) const
	Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not.
const Eigen::Isometry3d &	getFrameTransform (const std::string &id)
	Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. Because this function is non-const, the current state transforms are also updated, if needed.
const Eigen::Isometry3d &	getFrameTransform (moveit::core::RobotState &state, const std::string &id) const
	Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. This function also updates the link transforms of state.
const Eigen::Isometry3d &	getFrameTransform (const moveit::core::RobotState &state, const std::string &id) const
	Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not.
bool	knowsFrameTransform (const std::string &id) const
	Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object.
bool	knowsFrameTransform (const moveit::core::RobotState &state, const std::string &id) const
	Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object.
Reasoning about the geometry of the planning scene
const std::string	getCollisionDetectorName () const
const collision_detection::WorldConstPtr &	getWorld () const
	Get the representation of the world.
const collision_detection::WorldPtr &	getWorldNonConst ()
	Get the representation of the world.
const collision_detection::CollisionEnvConstPtr &	getCollisionEnv () const
	Get the active collision environment.
const collision_detection::CollisionEnvConstPtr &	getCollisionEnvUnpadded () const
	Get the active collision detector for the robot.
const collision_detection::CollisionEnvConstPtr &	getCollisionEnv (const std::string &collision_detector_name) const
	Get a specific collision detector for the world. If not found return active CollisionWorld.
const collision_detection::CollisionEnvConstPtr &	getCollisionEnvUnpadded (const std::string &collision_detector_name) const
	Get a specific collision detector for the unpadded robot. If no found return active unpadded CollisionRobot.
const collision_detection::CollisionEnvPtr &	getCollisionEnvNonConst ()
	Get the representation of the collision robot This can be used to set padding and link scale on the active collision_robot.
const collision_detection::AllowedCollisionMatrix &	getAllowedCollisionMatrix () const
	Get the allowed collision matrix.
collision_detection::AllowedCollisionMatrix &	getAllowedCollisionMatrixNonConst ()
	Get the allowed collision matrix.
void	setAllowedCollisionMatrix (const collision_detection::AllowedCollisionMatrix &acm)
	Set the allowed collision matrix.
Collision checking with respect to this planning scene
bool	isStateColliding (const std::string &group="", bool verbose=false)
	Check if the current state is in collision (with the environment or self collision). If a group name is specified, collision checking is done for that group only (plus descendent links). Since the function is non-const, the current state transforms are updated before the collision check.
bool	isStateColliding (const std::string &group="", bool verbose=false) const
	Check if the current state is in collision (with the environment or self collision). If a group name is specified, collision checking is done for that group only (plus descendent links). It is expected the current state transforms are up to date.
bool	isStateColliding (moveit::core::RobotState &state, const std::string &group="", bool verbose=false) const
	Check if a given state is in collision (with the environment or self collision) If a group name is specified, collision checking is done for that group only (plus descendent links). The link transforms for state are updated before the collision check.
bool	isStateColliding (const moveit::core::RobotState &state, const std::string &group="", bool verbose=false) const
	Check if a given state is in collision (with the environment or self collision) If a group name is specified, collision checking is done for that group only (plus descendent links). It is expected that the link transforms of state are up to date.
bool	isStateColliding (const moveit_msgs::msg::RobotState &state, const std::string &group="", bool verbose=false) const
	Check if a given state is in collision (with the environment or self collision) If a group name is specified, collision checking is done for that group only (plus descendent links).
void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res)
	Check whether the current state is in collision, and if needed, updates the collision transforms of the current state before the computation.
void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res) const
	Check whether the current state is in collision. The current state is expected to be updated.
void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, moveit::core::RobotState &robot_state) const
	Check whether a specified state (robot_state) is in collision. This variant of the function takes a non-const robot_state and calls updateCollisionBodyTransforms() on it.
void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &robot_state) const
	Check whether a specified state (robot_state) is in collision. The collision transforms of robot_state are expected to be up to date.
void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (robot_state) is in collision, with respect to a given allowed collision matrix (acm). This variant of the function takes a non-const robot_state and updates its link transforms if needed.
void	checkCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (robot_state) is in collision, with respect to a given allowed collision matrix (acm).
void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res)
	Check whether the current state is in collision, but use a collision_detection::CollisionRobot instance that has no padding. Since the function is non-const, the current state transforms are also updated if needed.
void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res) const
	Check whether the current state is in collision, but use a collision_detection::CollisionRobot instance that has no padding.
void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &robot_state) const
	Check whether a specified state (robot_state) is in collision, but use a collision_detection::CollisionRobot instance that has no padding.
void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, moveit::core::RobotState &robot_state) const
	Check whether a specified state (robot_state) is in collision, but use a collision_detection::CollisionRobot instance that has no padding. Update the link transforms of robot_state if needed.
void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (robot_state) is in collision, with respect to a given allowed collision matrix (acm), but use a collision_detection::CollisionRobot instance that has no padding. This variant of the function takes a non-const robot_state and calls updates the link transforms if needed.
void	checkCollisionUnpadded (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (robot_state) is in collision, with respect to a given allowed collision matrix (acm), but use a collision_detection::CollisionRobot instance that has no padding.
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res)
	Check whether the current state is in self collision.
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res) const
	Check whether the current state is in self collision.
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, moveit::core::RobotState &robot_state) const
	Check whether a specified state (robot_state) is in self collision.
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &robot_state) const
	Check whether a specified state (robot_state) is in self collision.
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (robot_state) is in self collision, with respect to a given allowed collision matrix (acm). The link transforms of robot_state are updated if needed.
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	Check whether a specified state (robot_state) is in self collision, with respect to a given allowed collision matrix (acm)
void	getCollidingLinks (std::vector< std::string > &links)
	Get the names of the links that are involved in collisions for the current state.
void	getCollidingLinks (std::vector< std::string > &links) const
	Get the names of the links that are involved in collisions for the current state.
void	getCollidingLinks (std::vector< std::string > &links, moveit::core::RobotState &robot_state) const
	Get the names of the links that are involved in collisions for the state robot_state. Update the link transforms for robot_state if needed.
void	getCollidingLinks (std::vector< std::string > &links, const moveit::core::RobotState &robot_state) const
	Get the names of the links that are involved in collisions for the state robot_state.
void	getCollidingLinks (std::vector< std::string > &links, moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	Get the names of the links that are involved in collisions for the state robot_state given the allowed collision matrix (acm)
void	getCollidingLinks (std::vector< std::string > &links, const moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	Get the names of the links that are involved in collisions for the state robot_state given the allowed collision matrix (acm)
void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts)
	Get the names of the links that are involved in collisions for the current state. Update the link transforms for the current state if needed.
void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts) const
	Get the names of the links that are involved in collisions for the current state.
void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts, const moveit::core::RobotState &robot_state, const std::string &group_name="") const
	Get the names of the links that are involved in collisions for the state robot_state. Can be restricted to links part of or updated by group_name (plus descendent links)
void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts, moveit::core::RobotState &robot_state, const std::string &group_name="") const
	Get the names of the links that are involved in collisions for the state robot_state. Update the link transforms for robot_state if needed. Can be restricted to links part of or updated by group_name (plus descendent links)
void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts, moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm, const std::string &group_name="") const
	Get the names of the links that are involved in collisions for the state robot_state given the allowed collision matrix (acm). Update the link transforms for robot_state if needed. Can be restricted to links part of or updated by group_name (plus descendent links)
void	getCollidingPairs (collision_detection::CollisionResult::ContactMap &contacts, const moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm, const std::string &group_name="") const
	Get the names of the links that are involved in collisions for the state robot_state given the allowed collision matrix (acm). Can be restricted to links part of or updated by group_name (plus descendent links)
Distance computation
double	distanceToCollision (moveit::core::RobotState &robot_state) const
	The distance between the robot model at state robot_state to the nearest collision (ignoring self-collisions)
double	distanceToCollision (const moveit::core::RobotState &robot_state) const
	The distance between the robot model at state robot_state to the nearest collision (ignoring self-collisions)
double	distanceToCollisionUnpadded (moveit::core::RobotState &robot_state) const
	The distance between the robot model at state robot_state to the nearest collision (ignoring self-collisions), if the robot has no padding.
double	distanceToCollisionUnpadded (const moveit::core::RobotState &robot_state) const
	The distance between the robot model at state robot_state to the nearest collision (ignoring self-collisions), if the robot has no padding.
double	distanceToCollision (moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	The distance between the robot model at state robot_state to the nearest collision, ignoring self-collisions and elements that are allowed to collide.
double	distanceToCollision (const moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	The distance between the robot model at state robot_state to the nearest collision, ignoring self-collisions and elements that are allowed to collide.
double	distanceToCollisionUnpadded (moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	The distance between the robot model at state robot_state to the nearest collision, ignoring self-collisions and elements that are allowed to collide, if the robot has no padding.
double	distanceToCollisionUnpadded (const moveit::core::RobotState &robot_state, const collision_detection::AllowedCollisionMatrix &acm) const
	The distance between the robot model at state robot_state to the nearest collision, ignoring self-collisions and elements that always allowed to collide, if the robot has no padding.

Static Public Member Functions
static PlanningScenePtr	clone (const PlanningSceneConstPtr &scene)
	Clone a planning scene. Even if the scene scene depends on a parent, the cloned scene will not.

Static Public Attributes
static const std::string	OCTOMAP_NS = "<octomap>"
static const std::string	DEFAULT_SCENE_NAME = "(noname)"

Friends
struct	CollisionDetector
	Enumerates the available collision detectors.

Detailed Description

This class maintains the representation of the environment as seen by a planning instance. The environment geometry, the robot geometry and state are maintained.

Definition at line 91 of file planning_scene.h.

Constructor & Destructor Documentation

PlanningScene() [1/3]

planning_scene::PlanningScene::PlanningScene ( const PlanningScene &  )

delete

PlanningScene cannot be copy-constructed.

PlanningScene() [2/3]

planning_scene::PlanningScene::PlanningScene	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const collision_detection::WorldPtr &	world = std::make_shared<collision_detection::World>()
	)

construct using an existing RobotModel

Definition at line 154 of file planning_scene.cpp.

PlanningScene() [3/3]

planning_scene::PlanningScene::PlanningScene	(	const urdf::ModelInterfaceSharedPtr &	urdf_model,
		const srdf::ModelConstSharedPtr &	srdf_model,
		const collision_detection::WorldPtr &	world = std::make_shared<collision_detection::World>()
	)

construct using a urdf and srdf. A RobotModel for the PlanningScene will be created using the urdf and srdf.

Definition at line 162 of file planning_scene.cpp.

~PlanningScene()

planning_scene::PlanningScene::~PlanningScene

(

)

Definition at line 182 of file planning_scene.cpp.

Member Function Documentation

allocateCollisionDetector()

void planning_scene::PlanningScene::allocateCollisionDetector ( const collision_detection::CollisionDetectorAllocatorPtr &  allocator )

inline

Allocate a new collision detector and replace the previous one if there was any.

The collision detector type is specified with (a shared pointer to) an allocator which is a subclass of CollisionDetectorAllocator. This identifies a combination of CollisionWorld/CollisionRobot which can be used together.

A new PlanningScene uses an FCL collision detector by default.

example: to add FCL collision detection (normally not necessary) call planning_scene->allocateCollisionDetector(collision_detection::CollisionDetectorAllocatorFCL::create());

Definition at line 922 of file planning_scene.h.

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checkCollision() [1/6]

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)

Check whether the current state is in collision, and if needed, updates the collision transforms of the current state before the computation.

Definition at line 394 of file planning_scene.cpp.

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checkCollision() [2/6]

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)		const

Check whether the current state is in collision. The current state is expected to be updated.

Definition at line 400 of file planning_scene.cpp.

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checkCollision() [3/6]

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	robot_state
	)		const

Check whether a specified state (robot_state) is in collision. The collision transforms of robot_state are expected to be up to date.

Definition at line 413 of file planning_scene.cpp.

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checkCollision() [4/6]

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	robot_state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Check whether a specified state (robot_state) is in collision, with respect to a given allowed collision matrix (acm).

Definition at line 431 of file planning_scene.cpp.

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checkCollision() [5/6]

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		moveit::core::RobotState &	robot_state
	)		const

Check whether a specified state (robot_state) is in collision. This variant of the function takes a non-const robot_state and calls updateCollisionBodyTransforms() on it.

Definition at line 406 of file planning_scene.cpp.

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checkCollision() [6/6]

void planning_scene::PlanningScene::checkCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		moveit::core::RobotState &	robot_state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Check whether a specified state (robot_state) is in collision, with respect to a given allowed collision matrix (acm). This variant of the function takes a non-const robot_state and updates its link transforms if needed.

Definition at line 420 of file planning_scene.cpp.

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checkCollisionUnpadded() [1/6]

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)

Check whether the current state is in collision, but use a collision_detection::CollisionRobot instance that has no padding. Since the function is non-const, the current state transforms are also updated if needed.

Definition at line 452 of file planning_scene.cpp.

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checkCollisionUnpadded() [2/6]

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)		const

Check whether the current state is in collision, but use a collision_detection::CollisionRobot instance that has no padding.

Definition at line 460 of file planning_scene.cpp.

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checkCollisionUnpadded() [3/6]

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	robot_state
	)		const

Check whether a specified state (robot_state) is in collision, but use a collision_detection::CollisionRobot instance that has no padding.

Definition at line 468 of file planning_scene.cpp.

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checkCollisionUnpadded() [4/6]

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	robot_state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Check whether a specified state (robot_state) is in collision, with respect to a given allowed collision matrix (acm), but use a collision_detection::CollisionRobot instance that has no padding.

Definition at line 497 of file planning_scene.cpp.

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checkCollisionUnpadded() [5/6]

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		moveit::core::RobotState &	robot_state
	)		const

Check whether a specified state (robot_state) is in collision, but use a collision_detection::CollisionRobot instance that has no padding. Update the link transforms of robot_state if needed.

Definition at line 477 of file planning_scene.cpp.

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checkCollisionUnpadded() [6/6]

void planning_scene::PlanningScene::checkCollisionUnpadded	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		moveit::core::RobotState &	robot_state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Check whether a specified state (robot_state) is in collision, with respect to a given allowed collision matrix (acm), but use a collision_detection::CollisionRobot instance that has no padding. This variant of the function takes a non-const robot_state and calls updates the link transforms if needed.

Definition at line 486 of file planning_scene.cpp.

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checkSelfCollision() [1/6]

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)

Check whether the current state is in self collision.

Definition at line 507 of file planning_scene.cpp.

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checkSelfCollision() [2/6]

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res
	)		const

Check whether the current state is in self collision.

Definition at line 513 of file planning_scene.cpp.

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checkSelfCollision() [3/6]

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	robot_state
	)		const

Check whether a specified state (robot_state) is in self collision.

Definition at line 530 of file planning_scene.cpp.

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checkSelfCollision() [4/6]

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	robot_state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Check whether a specified state (robot_state) is in self collision, with respect to a given allowed collision matrix (acm)

Definition at line 548 of file planning_scene.cpp.

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checkSelfCollision() [5/6]

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		moveit::core::RobotState &	robot_state
	)		const

Check whether a specified state (robot_state) is in self collision.

Definition at line 519 of file planning_scene.cpp.

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checkSelfCollision() [6/6]

void planning_scene::PlanningScene::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		moveit::core::RobotState &	robot_state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Check whether a specified state (robot_state) is in self collision, with respect to a given allowed collision matrix (acm). The link transforms of robot_state are updated if needed.

Definition at line 537 of file planning_scene.cpp.

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clearDiffs()

void planning_scene::PlanningScene::clearDiffs

(

)

Clear the diffs accumulated for this planning scene, with respect to: the parent PlanningScene (if it exists) the parent CollisionDetector (if it exists) This function is a no-op if there is no parent planning scene.

Definition at line 316 of file planning_scene.cpp.

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clone()

PlanningScenePtr planning_scene::PlanningScene::clone ( const PlanningSceneConstPtr &  scene )

static

Clone a planning scene. Even if the scene scene depends on a parent, the cloned scene will not.

Definition at line 229 of file planning_scene.cpp.

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decoupleParent()

void planning_scene::PlanningScene::decoupleParent

(

)

Make sure that all the data maintained in this scene is local. All unmodified data is copied from the parent and the pointer to the parent is discarded.

Definition at line 1250 of file planning_scene.cpp.

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diff() [1/2]

PlanningScenePtr planning_scene::PlanningScene::diff

(

)

const

Return a new child PlanningScene that uses this one as parent.

The child scene has its own copy of the world. It maintains a list (in world_diff_) of changes made to the child world.

The robot_model_, robot_state_, scene_transforms_, and acm_ are not copied. They are shared with the parent. So if changes to these are made in the parent they will be visible in the child. But if any of these is modified (i.e. if the get*NonConst functions are called) in the child then a copy is made and subsequent changes to the corresponding member of the parent will no longer be visible in the child.

Definition at line 237 of file planning_scene.cpp.

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diff() [2/2]

PlanningScenePtr planning_scene::PlanningScene::diff

(

const moveit_msgs::msg::PlanningScene &

msg

)

const

Return a new child PlanningScene that uses this one as parent and has the diffs specified by msg applied.

Definition at line 242 of file planning_scene.cpp.

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distanceToCollision() [1/4]

double planning_scene::PlanningScene::distanceToCollision ( const moveit::core::RobotState &  robot_state ) const

inline

The distance between the robot model at state robot_state to the nearest collision (ignoring self-collisions)

Definition at line 546 of file planning_scene.h.

distanceToCollision() [2/4]

double planning_scene::PlanningScene::distanceToCollision ( const moveit::core::RobotState &  robot_state, const collision_detection::AllowedCollisionMatrix &  acm  ) const

inline

The distance between the robot model at state robot_state to the nearest collision, ignoring self-collisions and elements that are allowed to collide.

Definition at line 579 of file planning_scene.h.

distanceToCollision() [3/4]

double planning_scene::PlanningScene::distanceToCollision ( moveit::core::RobotState &  robot_state ) const

inline

The distance between the robot model at state robot_state to the nearest collision (ignoring self-collisions)

Definition at line 537 of file planning_scene.h.

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distanceToCollision() [4/4]

double planning_scene::PlanningScene::distanceToCollision ( moveit::core::RobotState &  robot_state, const collision_detection::AllowedCollisionMatrix &  acm  ) const

inline

The distance between the robot model at state robot_state to the nearest collision, ignoring self-collisions and elements that are allowed to collide.

Definition at line 569 of file planning_scene.h.

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distanceToCollisionUnpadded() [1/4]

double planning_scene::PlanningScene::distanceToCollisionUnpadded ( const moveit::core::RobotState &  robot_state ) const

inline

The distance between the robot model at state robot_state to the nearest collision (ignoring self-collisions), if the robot has no padding.

Definition at line 561 of file planning_scene.h.

distanceToCollisionUnpadded() [2/4]

double planning_scene::PlanningScene::distanceToCollisionUnpadded ( const moveit::core::RobotState &  robot_state, const collision_detection::AllowedCollisionMatrix &  acm  ) const

inline

The distance between the robot model at state robot_state to the nearest collision, ignoring self-collisions and elements that always allowed to collide, if the robot has no padding.

Definition at line 598 of file planning_scene.h.

distanceToCollisionUnpadded() [3/4]

double planning_scene::PlanningScene::distanceToCollisionUnpadded ( moveit::core::RobotState &  robot_state ) const

inline

The distance between the robot model at state robot_state to the nearest collision (ignoring self-collisions), if the robot has no padding.

Definition at line 553 of file planning_scene.h.

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distanceToCollisionUnpadded() [4/4]

double planning_scene::PlanningScene::distanceToCollisionUnpadded ( moveit::core::RobotState &  robot_state, const collision_detection::AllowedCollisionMatrix &  acm  ) const

inline

The distance between the robot model at state robot_state to the nearest collision, ignoring self-collisions and elements that are allowed to collide, if the robot has no padding.

Definition at line 588 of file planning_scene.h.

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getAllowedCollisionMatrix()

const collision_detection::AllowedCollisionMatrix & planning_scene::PlanningScene::getAllowedCollisionMatrix ( ) const

inline

Get the allowed collision matrix.

Definition at line 292 of file planning_scene.h.

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getAllowedCollisionMatrixNonConst()

collision_detection::AllowedCollisionMatrix & planning_scene::PlanningScene::getAllowedCollisionMatrixNonConst

(

)

Get the allowed collision matrix.

Definition at line 654 of file planning_scene.cpp.

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getAttachedCollisionObjectMsg()

bool planning_scene::PlanningScene::getAttachedCollisionObjectMsg	(	moveit_msgs::msg::AttachedCollisionObject &	attached_collision_obj,
		const std::string &	ns
	)		const

Construct a message (attached_collision_object) with the attached collision object data from the planning_scene for the requested object.

Definition at line 887 of file planning_scene.cpp.

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getAttachedCollisionObjectMsgs()

void planning_scene::PlanningScene::getAttachedCollisionObjectMsgs

(

std::vector< moveit_msgs::msg::AttachedCollisionObject > &

attached_collision_objs

)

const

Construct a vector of messages (attached_collision_objects) with the attached collision object data for all objects in planning_scene.

Definition at line 903 of file planning_scene.cpp.

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getCollidingLinks() [1/6]

void planning_scene::PlanningScene::getCollidingLinks

(

std::vector< std::string > &

links

)

Get the names of the links that are involved in collisions for the current state.

Definition at line 584 of file planning_scene.cpp.

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getCollidingLinks() [2/6]

void planning_scene::PlanningScene::getCollidingLinks ( std::vector< std::string > &  links ) const

inline

Get the names of the links that are involved in collisions for the current state.

Definition at line 447 of file planning_scene.h.

getCollidingLinks() [3/6]

void planning_scene::PlanningScene::getCollidingLinks ( std::vector< std::string > &  links, const moveit::core::RobotState &  robot_state  ) const

inline

Get the names of the links that are involved in collisions for the state robot_state.

Definition at line 461 of file planning_scene.h.

getCollidingLinks() [4/6]

void planning_scene::PlanningScene::getCollidingLinks	(	std::vector< std::string > &	links,
		const moveit::core::RobotState &	robot_state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Get the names of the links that are involved in collisions for the state robot_state given the allowed collision matrix (acm)

Definition at line 596 of file planning_scene.cpp.

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getCollidingLinks() [5/6]

void planning_scene::PlanningScene::getCollidingLinks ( std::vector< std::string > &  links, moveit::core::RobotState &  robot_state  ) const

inline

Get the names of the links that are involved in collisions for the state robot_state. Update the link transforms for robot_state if needed.

Definition at line 454 of file planning_scene.h.

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getCollidingLinks() [6/6]

void planning_scene::PlanningScene::getCollidingLinks ( std::vector< std::string > &  links, moveit::core::RobotState &  robot_state, const collision_detection::AllowedCollisionMatrix &  acm  ) const

inline

Get the names of the links that are involved in collisions for the state robot_state given the allowed collision matrix (acm)

Definition at line 468 of file planning_scene.h.

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getCollidingPairs() [1/6]

void planning_scene::PlanningScene::getCollidingPairs

(

collision_detection::CollisionResult::ContactMap &

contacts

)

Get the names of the links that are involved in collisions for the current state. Update the link transforms for the current state if needed.

Definition at line 557 of file planning_scene.cpp.

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getCollidingPairs() [2/6]

void planning_scene::PlanningScene::getCollidingPairs ( collision_detection::CollisionResult::ContactMap &  contacts ) const

inline

Get the names of the links that are involved in collisions for the current state.

Definition at line 485 of file planning_scene.h.

getCollidingPairs() [3/6]

void planning_scene::PlanningScene::getCollidingPairs	(	collision_detection::CollisionResult::ContactMap &	contacts,
		const moveit::core::RobotState &	robot_state,
		const collision_detection::AllowedCollisionMatrix &	acm,
		const std::string &	group_name = ""
	)		const

Get the names of the links that are involved in collisions for the state robot_state given the allowed collision matrix (acm). Can be restricted to links part of or updated by group_name (plus descendent links)

Definition at line 569 of file planning_scene.cpp.

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getCollidingPairs() [4/6]

void planning_scene::PlanningScene::getCollidingPairs ( collision_detection::CollisionResult::ContactMap &  contacts, const moveit::core::RobotState &  robot_state, const std::string &  group_name = ""  ) const

inline

Get the names of the links that are involved in collisions for the state robot_state. Can be restricted to links part of or updated by group_name (plus descendent links)

Definition at line 492 of file planning_scene.h.

getCollidingPairs() [5/6]

void planning_scene::PlanningScene::getCollidingPairs ( collision_detection::CollisionResult::ContactMap &  contacts, moveit::core::RobotState &  robot_state, const collision_detection::AllowedCollisionMatrix &  acm, const std::string &  group_name = ""  ) const

inline

Get the names of the links that are involved in collisions for the state robot_state given the allowed collision matrix (acm). Update the link transforms for robot_state if needed. Can be restricted to links part of or updated by group_name (plus descendent links)

Definition at line 512 of file planning_scene.h.

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getCollidingPairs() [6/6]

void planning_scene::PlanningScene::getCollidingPairs ( collision_detection::CollisionResult::ContactMap &  contacts, moveit::core::RobotState &  robot_state, const std::string &  group_name = ""  ) const

inline

Get the names of the links that are involved in collisions for the state robot_state. Update the link transforms for robot_state if needed. Can be restricted to links part of or updated by group_name (plus descendent links)

Definition at line 501 of file planning_scene.h.

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getCollisionDetectorName()

const std::string planning_scene::PlanningScene::getCollisionDetectorName ( ) const

inline

Definition at line 247 of file planning_scene.h.

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getCollisionEnv() [1/2]

const collision_detection::CollisionEnvConstPtr & planning_scene::PlanningScene::getCollisionEnv ( ) const

inline

Get the active collision environment.

Definition at line 268 of file planning_scene.h.

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getCollisionEnv() [2/2]

const collision_detection::CollisionEnvConstPtr & planning_scene::PlanningScene::getCollisionEnv

(

const std::string &

collision_detector_name

)

const

Get a specific collision detector for the world. If not found return active CollisionWorld.

Definition at line 289 of file planning_scene.cpp.

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getCollisionEnvNonConst()

const collision_detection::CollisionEnvPtr & planning_scene::PlanningScene::getCollisionEnvNonConst

(

)

Get the representation of the collision robot This can be used to set padding and link scale on the active collision_robot.

Definition at line 615 of file planning_scene.cpp.

getCollisionEnvUnpadded() [1/2]

const collision_detection::CollisionEnvConstPtr & planning_scene::PlanningScene::getCollisionEnvUnpadded ( ) const

inline

Get the active collision detector for the robot.

Definition at line 274 of file planning_scene.h.

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getCollisionEnvUnpadded() [2/2]

const collision_detection::CollisionEnvConstPtr & planning_scene::PlanningScene::getCollisionEnvUnpadded

(

const std::string &

collision_detector_name

)

const

Get a specific collision detector for the unpadded robot. If no found return active unpadded CollisionRobot.

Definition at line 302 of file planning_scene.cpp.

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getCollisionObjectMsg()

bool planning_scene::PlanningScene::getCollisionObjectMsg	(	moveit_msgs::msg::CollisionObject &	collision_obj,
		const std::string &	ns
	)		const

Construct a message (collision_object) with the collision object data from the planning_scene for the requested object.

Definition at line 835 of file planning_scene.cpp.

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getCollisionObjectMsgs()

void planning_scene::PlanningScene::getCollisionObjectMsgs

(

std::vector< moveit_msgs::msg::CollisionObject > &

collision_objs

)

const

Construct a vector of messages (collision_objects) with the collision object data for all objects in planning_scene.

Definition at line 873 of file planning_scene.cpp.

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getCostSources() [1/4]

void planning_scene::PlanningScene::getCostSources	(	const moveit::core::RobotState &	state,
		std::size_t	max_costs,
		const std::string &	group_name,
		std::set< collision_detection::CostSource > &	costs
	)		const

Get the top max_costs cost sources for a specified state, but only for group group_name (plus descendent links). The resulting costs are stored in costs.

Definition at line 2492 of file planning_scene.cpp.

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getCostSources() [2/4]

void planning_scene::PlanningScene::getCostSources	(	const moveit::core::RobotState &	state,
		std::size_t	max_costs,
		std::set< collision_detection::CostSource > &	costs
	)		const

Get the top max_costs cost sources for a specified state. The resulting costs are stored in costs.

Definition at line 2486 of file planning_scene.cpp.

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getCostSources() [3/4]

void planning_scene::PlanningScene::getCostSources	(	const robot_trajectory::RobotTrajectory &	trajectory,
		std::size_t	max_costs,
		const std::string &	group_name,
		std::set< collision_detection::CostSource > &	costs,
		double	overlap_fraction = 0.9
	)		const

Get the top max_costs cost sources for a specified trajectory, but only for group group_name (plus descendent links). The resulting costs are stored in costs.

Definition at line 2450 of file planning_scene.cpp.

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getCostSources() [4/4]

void planning_scene::PlanningScene::getCostSources	(	const robot_trajectory::RobotTrajectory &	trajectory,
		std::size_t	max_costs,
		std::set< collision_detection::CostSource > &	costs,
		double	overlap_fraction = 0.9
	)		const

Get the top max_costs cost sources for a specified trajectory. The resulting costs are stored in costs.

Definition at line 2444 of file planning_scene.cpp.

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getCurrentState()

const moveit::core::RobotState & planning_scene::PlanningScene::getCurrentState ( ) const

inline

Get the state at which the robot is assumed to be.

Definition at line 160 of file planning_scene.h.

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getCurrentStateNonConst()

moveit::core::RobotState & planning_scene::PlanningScene::getCurrentStateNonConst

(

)

Get the state at which the robot is assumed to be.

Definition at line 620 of file planning_scene.cpp.

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getCurrentStateUpdated()

moveit::core::RobotStatePtr planning_scene::PlanningScene::getCurrentStateUpdated

(

const moveit_msgs::msg::RobotState &

update

)

const

Get a copy of the current state with components overwritten by the state message update.

Definition at line 631 of file planning_scene.cpp.

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getFrameTransform() [1/4]

const Eigen::Isometry3d & planning_scene::PlanningScene::getFrameTransform	(	const moveit::core::RobotState &	state,
		const std::string &	id
	)		const

Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not.

Definition at line 2029 of file planning_scene.cpp.

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getFrameTransform() [2/4]

const Eigen::Isometry3d & planning_scene::PlanningScene::getFrameTransform

(

const std::string &

id

)

Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. Because this function is non-const, the current state transforms are also updated, if needed.

Definition at line 2017 of file planning_scene.cpp.

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getFrameTransform() [3/4]

const Eigen::Isometry3d & planning_scene::PlanningScene::getFrameTransform

(

const std::string &

id

)

const

Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not.

Definition at line 2012 of file planning_scene.cpp.

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getFrameTransform() [4/4]

const Eigen::Isometry3d & planning_scene::PlanningScene::getFrameTransform ( moveit::core::RobotState &  state, const std::string &  id  ) const

inline

Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available. Use knowsFrameTransform() to test if this function will be successful or not. This function also updates the link transforms of state.

Definition at line 220 of file planning_scene.h.

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getKnownObjectColors()

void planning_scene::PlanningScene::getKnownObjectColors

(

ObjectColorMap &

kc

)

const

Definition at line 2154 of file planning_scene.cpp.

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getKnownObjectTypes()

void planning_scene::PlanningScene::getKnownObjectTypes

(

ObjectTypeMap &

kc

)

const

Definition at line 2105 of file planning_scene.cpp.

getMotionFeasibilityPredicate()

const MotionFeasibilityFn & planning_scene::PlanningScene::getMotionFeasibilityPredicate ( ) const

inline

Get the predicate that decides whether motion segments are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation.

Definition at line 774 of file planning_scene.h.

getName()

const std::string & planning_scene::PlanningScene::getName ( ) const

inline

Get the name of the planning scene. This is empty by default.

Definition at line 119 of file planning_scene.h.

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getObjectColor()

const std_msgs::msg::ColorRGBA & planning_scene::PlanningScene::getObjectColor

(

const std::string &

id

)

const

Gets the current color of an object.

Parameters

id	The string id of the target object.

Returns

The current object color.

Definition at line 2129 of file planning_scene.cpp.

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getObjectColorMsgs()

void planning_scene::PlanningScene::getObjectColorMsgs

(

std::vector< moveit_msgs::msg::ObjectColor > &

object_colors

)

const

Construct a vector of messages (object_colors) with the colors of the objects from the planning_scene.

Definition at line 932 of file planning_scene.cpp.

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getObjectType()

const object_recognition_msgs::msg::ObjectType & planning_scene::PlanningScene::getObjectType

(

const std::string &

id

)

const

Definition at line 2078 of file planning_scene.cpp.

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getOctomapMsg()

bool planning_scene::PlanningScene::getOctomapMsg

(

octomap_msgs::msg::OctomapWithPose &

octomap

)

const

Construct a message (octomap) with the octomap data from the planning_scene.

Definition at line 911 of file planning_scene.cpp.

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getOriginalObjectColor()

std::optional< std_msgs::msg::ColorRGBA > planning_scene::PlanningScene::getOriginalObjectColor

(

const std::string &

id

)

const

Tries to get the original color of an object, if one has been set before.

Parameters

id	The string id of the target object.

Returns

The original object color, if available, otherwise std::nullopt.

Definition at line 2143 of file planning_scene.cpp.

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getParent()

const PlanningSceneConstPtr & planning_scene::PlanningScene::getParent ( ) const

inline

Get the parent scene (with respect to which the diffs are maintained). This may be empty.

Definition at line 147 of file planning_scene.h.

getPlanningFrame()

const std::string & planning_scene::PlanningScene::getPlanningFrame ( ) const

inline

Get the frame in which planning is performed.

Definition at line 177 of file planning_scene.h.

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getPlanningSceneDiffMsg()

void planning_scene::PlanningScene::getPlanningSceneDiffMsg

(

moveit_msgs::msg::PlanningScene &

scene

)

const

Fill the message scene with the differences between this instance of PlanningScene with respect to the parent. If there is no parent, everything is considered to be a diff and the function behaves like getPlanningSceneMsg()

Definition at line 687 of file planning_scene.cpp.

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getPlanningSceneMsg() [1/2]

void planning_scene::PlanningScene::getPlanningSceneMsg

(

moveit_msgs::msg::PlanningScene &

scene

)

const

Construct a message (scene) with all the necessary data so that the scene can be later reconstructed to be exactly the same using setPlanningSceneMsg()

Definition at line 947 of file planning_scene.cpp.

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getPlanningSceneMsg() [2/2]

void planning_scene::PlanningScene::getPlanningSceneMsg	(	moveit_msgs::msg::PlanningScene &	scene,
		const moveit_msgs::msg::PlanningSceneComponents &	comp
	)		const

Construct a message (scene) with the data requested in comp. If all options in comp are filled, this will be a complete planning scene message.

Definition at line 968 of file planning_scene.cpp.

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getRobotModel()

const moveit::core::RobotModelConstPtr & planning_scene::PlanningScene::getRobotModel ( ) const

inline

Get the kinematic model for which the planning scene is maintained.

Definition at line 153 of file planning_scene.h.

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getStateFeasibilityPredicate()

const StateFeasibilityFn & planning_scene::PlanningScene::getStateFeasibilityPredicate ( ) const

inline

Get the predicate that decides whether states are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation.

Definition at line 760 of file planning_scene.h.

getTransforms() [1/2]

const moveit::core::Transforms & planning_scene::PlanningScene::getTransforms

(

)

Get the set of fixed transforms from known frames to the planning frame. This variant is non-const and also updates the current state.

Definition at line 666 of file planning_scene.cpp.

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getTransforms() [2/2]

const moveit::core::Transforms & planning_scene::PlanningScene::getTransforms ( ) const

inline

Get the set of fixed transforms from known frames to the planning frame.

Definition at line 184 of file planning_scene.h.

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getTransformsNonConst()

moveit::core::Transforms & planning_scene::PlanningScene::getTransformsNonConst

(

)

Get the set of fixed transforms from known frames to the planning frame.

Definition at line 673 of file planning_scene.cpp.

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getWorld()

const collision_detection::WorldConstPtr & planning_scene::PlanningScene::getWorld ( ) const

inline

Get the representation of the world.

Definition at line 254 of file planning_scene.h.

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getWorldNonConst()

const collision_detection::WorldPtr & planning_scene::PlanningScene::getWorldNonConst ( )

inline

Get the representation of the world.

Definition at line 261 of file planning_scene.h.

hasObjectColor()

bool planning_scene::PlanningScene::hasObjectColor

(

const std::string &

id

)

const

Definition at line 2117 of file planning_scene.cpp.

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hasObjectType()

bool planning_scene::PlanningScene::hasObjectType

(

const std::string &

id

)

const

Definition at line 2066 of file planning_scene.cpp.

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isPathValid() [1/8]

bool planning_scene::PlanningScene::isPathValid	(	const moveit_msgs::msg::RobotState &	start_state,
		const moveit_msgs::msg::RobotTrajectory &	trajectory,
		const moveit_msgs::msg::Constraints &	path_constraints,
		const moveit_msgs::msg::Constraints &	goal_constraints,
		const std::string &	group = "",
		bool	verbose = false,
		std::vector< std::size_t > *	invalid_index = nullptr
	)		const

Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. Includes descendent links of group.

Definition at line 2335 of file planning_scene.cpp.

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isPathValid() [2/8]

bool planning_scene::PlanningScene::isPathValid	(	const moveit_msgs::msg::RobotState &	start_state,
		const moveit_msgs::msg::RobotTrajectory &	trajectory,
		const moveit_msgs::msg::Constraints &	path_constraints,
		const std::string &	group = "",
		bool	verbose = false,
		std::vector< std::size_t > *	invalid_index = nullptr
	)		const

Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. Includes descendent links of group.

Definition at line 2326 of file planning_scene.cpp.

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isPathValid() [3/8]

bool planning_scene::PlanningScene::isPathValid	(	const moveit_msgs::msg::RobotState &	start_state,
		const moveit_msgs::msg::RobotTrajectory &	trajectory,
		const moveit_msgs::msg::Constraints &	path_constraints,
		const std::vector< moveit_msgs::msg::Constraints > &	goal_constraints,
		const std::string &	group = "",
		bool	verbose = false,
		std::vector< std::size_t > *	invalid_index = nullptr
	)		const

Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. Includes descendent links of group.

Definition at line 2345 of file planning_scene.cpp.

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isPathValid() [4/8]

bool planning_scene::PlanningScene::isPathValid	(	const moveit_msgs::msg::RobotState &	start_state,
		const moveit_msgs::msg::RobotTrajectory &	trajectory,
		const std::string &	group = "",
		bool	verbose = false,
		std::vector< std::size_t > *	invalid_index = nullptr
	)		const

Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility). Includes descendent links of group.

Definition at line 2317 of file planning_scene.cpp.

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isPathValid() [5/8]

bool planning_scene::PlanningScene::isPathValid	(	const robot_trajectory::RobotTrajectory &	trajectory,
		const moveit_msgs::msg::Constraints &	path_constraints,
		const moveit_msgs::msg::Constraints &	goal_constraints,
		const std::string &	group = "",
		bool	verbose = false,
		std::vector< std::size_t > *	invalid_index = nullptr
	)		const

Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. Includes descendent links of group.

Definition at line 2419 of file planning_scene.cpp.

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isPathValid() [6/8]

bool planning_scene::PlanningScene::isPathValid	(	const robot_trajectory::RobotTrajectory &	trajectory,
		const moveit_msgs::msg::Constraints &	path_constraints,
		const std::string &	group = "",
		bool	verbose = false,
		std::vector< std::size_t > *	invalid_index = nullptr
	)		const

Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). Includes descendent links of group.

Definition at line 2428 of file planning_scene.cpp.

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isPathValid() [7/8]

bool planning_scene::PlanningScene::isPathValid	(	const robot_trajectory::RobotTrajectory &	trajectory,
		const moveit_msgs::msg::Constraints &	path_constraints,
		const std::vector< moveit_msgs::msg::Constraints > &	goal_constraints,
		const std::string &	group = "",
		bool	verbose = false,
		std::vector< std::size_t > *	invalid_index = nullptr
	)		const

Check if a given path is valid. Each state is checked for validity (collision avoidance, feasibility and constraint satisfaction). It is also checked that the goal constraints are satisfied by the last state on the passed in trajectory. Includes descendent links of group.

Definition at line 2358 of file planning_scene.cpp.

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isPathValid() [8/8]

bool planning_scene::PlanningScene::isPathValid	(	const robot_trajectory::RobotTrajectory &	trajectory,
		const std::string &	group = "",
		bool	verbose = false,
		std::vector< std::size_t > *	invalid_index = nullptr
	)		const

Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility). Includes descendent links of group.

Definition at line 2436 of file planning_scene.cpp.

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isStateColliding() [1/5]

bool planning_scene::PlanningScene::isStateColliding	(	const moveit::core::RobotState &	state,
		const std::string &	group = "",
		bool	verbose = false
	)		const

Check if a given state is in collision (with the environment or self collision) If a group name is specified, collision checking is done for that group only (plus descendent links). It is expected that the link transforms of state are up to date.

Definition at line 2210 of file planning_scene.cpp.

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isStateColliding() [2/5]

bool planning_scene::PlanningScene::isStateColliding	(	const moveit_msgs::msg::RobotState &	state,
		const std::string &	group = "",
		bool	verbose = false
	)		const

Check if a given state is in collision (with the environment or self collision) If a group name is specified, collision checking is done for that group only (plus descendent links).

Definition at line 2190 of file planning_scene.cpp.

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isStateColliding() [3/5]

bool planning_scene::PlanningScene::isStateColliding	(	const std::string &	group = "",
		bool	verbose = false
	)

Check if the current state is in collision (with the environment or self collision). If a group name is specified, collision checking is done for that group only (plus descendent links). Since the function is non-const, the current state transforms are updated before the collision check.

Definition at line 2198 of file planning_scene.cpp.

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isStateColliding() [4/5]

bool planning_scene::PlanningScene::isStateColliding ( const std::string &  group = "", bool  verbose = false  ) const

inline

Check if the current state is in collision (with the environment or self collision). If a group name is specified, collision checking is done for that group only (plus descendent links). It is expected the current state transforms are up to date.

Definition at line 319 of file planning_scene.h.

isStateColliding() [5/5]

bool planning_scene::PlanningScene::isStateColliding ( moveit::core::RobotState &  state, const std::string &  group = "", bool  verbose = false  ) const

inline

Check if a given state is in collision (with the environment or self collision) If a group name is specified, collision checking is done for that group only (plus descendent links). The link transforms for state are updated before the collision check.

Definition at line 328 of file planning_scene.h.

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isStateConstrained() [1/4]

bool planning_scene::PlanningScene::isStateConstrained	(	const moveit::core::RobotState &	state,
		const kinematic_constraints::KinematicConstraintSet &	constr,
		bool	verbose = false
	)		const

Check if a given state satisfies a set of constraints.

Definition at line 2270 of file planning_scene.cpp.

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isStateConstrained() [2/4]

bool planning_scene::PlanningScene::isStateConstrained	(	const moveit::core::RobotState &	state,
		const moveit_msgs::msg::Constraints &	constr,
		bool	verbose = false
	)		const

Check if a given state satisfies a set of constraints.

Definition at line 2246 of file planning_scene.cpp.

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isStateConstrained() [3/4]

bool planning_scene::PlanningScene::isStateConstrained	(	const moveit_msgs::msg::RobotState &	state,
		const kinematic_constraints::KinematicConstraintSet &	constr,
		bool	verbose = false
	)		const

Check if a given state satisfies a set of constraints.

Definition at line 2262 of file planning_scene.cpp.

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isStateConstrained() [4/4]

bool planning_scene::PlanningScene::isStateConstrained	(	const moveit_msgs::msg::RobotState &	state,
		const moveit_msgs::msg::Constraints &	constr,
		bool	verbose = false
	)		const

Check if a given state satisfies a set of constraints.

Definition at line 2238 of file planning_scene.cpp.

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isStateFeasible() [1/2]

bool planning_scene::PlanningScene::isStateFeasible	(	const moveit::core::RobotState &	state,
		bool	verbose = false
	)		const

Check if a given state is feasible, in accordance to the feasibility predicate specified by setStateFeasibilityPredicate(). Returns true if no feasibility predicate was specified.

Definition at line 2231 of file planning_scene.cpp.

isStateFeasible() [2/2]

bool planning_scene::PlanningScene::isStateFeasible	(	const moveit_msgs::msg::RobotState &	state,
		bool	verbose = false
	)		const

Check if a given state is feasible, in accordance to the feasibility predicate specified by setStateFeasibilityPredicate(). Returns true if no feasibility predicate was specified.

Definition at line 2220 of file planning_scene.cpp.

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isStateValid() [1/5]

bool planning_scene::PlanningScene::isStateValid	(	const moveit::core::RobotState &	state,
		const kinematic_constraints::KinematicConstraintSet &	constr,
		const std::string &	group = "",
		bool	verbose = false
	)		const

Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. Includes descendent links of group.

Definition at line 2306 of file planning_scene.cpp.

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isStateValid() [2/5]

bool planning_scene::PlanningScene::isStateValid	(	const moveit::core::RobotState &	state,
		const moveit_msgs::msg::Constraints &	constr,
		const std::string &	group = "",
		bool	verbose = false
	)		const

Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. Includes descendent links of group.

Definition at line 2296 of file planning_scene.cpp.

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isStateValid() [3/5]

bool planning_scene::PlanningScene::isStateValid	(	const moveit::core::RobotState &	state,
		const std::string &	group = "",
		bool	verbose = false
	)		const

Check if a given state is valid. This means checking for collisions and feasibility. Includes descendent links of group.

Definition at line 2276 of file planning_scene.cpp.

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isStateValid() [4/5]

bool planning_scene::PlanningScene::isStateValid	(	const moveit_msgs::msg::RobotState &	state,
		const moveit_msgs::msg::Constraints &	constr,
		const std::string &	group = "",
		bool	verbose = false
	)		const

Check if a given state is valid. This means checking for collisions, feasibility and whether the user specified validity conditions hold as well. Includes descendent links of group.

Definition at line 2288 of file planning_scene.cpp.

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isStateValid() [5/5]

bool planning_scene::PlanningScene::isStateValid	(	const moveit_msgs::msg::RobotState &	state,
		const std::string &	group = "",
		bool	verbose = false
	)		const

Check if a given state is valid. This means checking for collisions and feasibility. Includes descendent links of group.

Definition at line 2282 of file planning_scene.cpp.

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knowsFrameTransform() [1/2]

bool planning_scene::PlanningScene::knowsFrameTransform	(	const moveit::core::RobotState &	state,
		const std::string &	id
	)		const

Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object.

Definition at line 2054 of file planning_scene.cpp.

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knowsFrameTransform() [2/2]

bool planning_scene::PlanningScene::knowsFrameTransform

(

const std::string &

id

)

const

Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object.

Definition at line 2049 of file planning_scene.cpp.

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loadGeometryFromStream() [1/2]

bool planning_scene::PlanningScene::loadGeometryFromStream

(

std::istream &

in

)

Load the geometry of the planning scene from a stream.

Definition at line 1082 of file planning_scene.cpp.

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loadGeometryFromStream() [2/2]

bool planning_scene::PlanningScene::loadGeometryFromStream	(	std::istream &	in,
		const Eigen::Isometry3d &	offset
	)

Load the geometry of the planning scene from a stream at a certain location using offset.

Definition at line 1087 of file planning_scene.cpp.

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operator=()

PlanningScene & planning_scene::PlanningScene::operator= ( const PlanningScene &  )

delete

PlanningScene cannot be copy-assigned.

printKnownObjects()

void planning_scene::PlanningScene::printKnownObjects

(

std::ostream &

out = std::cout

)

const

Outputs debug information about the planning scene contents.

Definition at line 2505 of file planning_scene.cpp.

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processAttachedCollisionObjectMsg()

bool planning_scene::PlanningScene::processAttachedCollisionObjectMsg

(

const moveit_msgs::msg::AttachedCollisionObject &

object

)

Definition at line 1530 of file planning_scene.cpp.

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processCollisionObjectMsg()

bool planning_scene::PlanningScene::processCollisionObjectMsg

(

const moveit_msgs::msg::CollisionObject &

object

)

Definition at line 1768 of file planning_scene.cpp.

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processOctomapMsg() [1/2]

void planning_scene::PlanningScene::processOctomapMsg

(

const octomap_msgs::msg::Octomap &

map

)

Definition at line 1432 of file planning_scene.cpp.

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processOctomapMsg() [2/2]

void planning_scene::PlanningScene::processOctomapMsg

(

const octomap_msgs::msg::OctomapWithPose &

map

)

Definition at line 1472 of file planning_scene.cpp.

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processOctomapPtr()

void planning_scene::PlanningScene::processOctomapPtr	(	const std::shared_ptr< const octomap::OcTree > &	octree,
		const Eigen::Isometry3d &	t
	)

Definition at line 1495 of file planning_scene.cpp.

processPlanningSceneWorldMsg()

bool planning_scene::PlanningScene::processPlanningSceneWorldMsg

(

const moveit_msgs::msg::PlanningSceneWorld &

world

)

Definition at line 1391 of file planning_scene.cpp.

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pushDiffs()

void planning_scene::PlanningScene::pushDiffs

(

const PlanningScenePtr &

scene

)

If there is a parent specified for this scene, then the diffs with respect to that parent are applied to a specified planning scene, whatever that scene may be. If there is no parent specified, this function is a no-op.

Definition at line 338 of file planning_scene.cpp.

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removeAllCollisionObjects()

void planning_scene::PlanningScene::removeAllCollisionObjects

(

)

Clear all collision objects in planning scene.

Definition at line 1458 of file planning_scene.cpp.

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removeObjectColor()

void planning_scene::PlanningScene::removeObjectColor

(

const std::string &

id

)

Definition at line 2184 of file planning_scene.cpp.

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removeObjectType()

void planning_scene::PlanningScene::removeObjectType

(

const std::string &

id

)

Definition at line 2099 of file planning_scene.cpp.

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saveGeometryToStream()

void planning_scene::PlanningScene::saveGeometryToStream

(

std::ostream &

out

)

const

Save the geometry of the planning scene to a stream, as plain text.

Definition at line 1038 of file planning_scene.cpp.

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setAllowedCollisionMatrix()

void planning_scene::PlanningScene::setAllowedCollisionMatrix

(

const collision_detection::AllowedCollisionMatrix &

acm

)

Set the allowed collision matrix.

Definition at line 661 of file planning_scene.cpp.

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setAttachedBodyUpdateCallback()

void planning_scene::PlanningScene::setAttachedBodyUpdateCallback

(

const moveit::core::AttachedBodyCallback &

callback

)

Set the callback to be triggered when changes are made to the current scene state.

Definition at line 638 of file planning_scene.cpp.

setCollisionObjectUpdateCallback()

void planning_scene::PlanningScene::setCollisionObjectUpdateCallback

(

const collision_detection::World::ObserverCallbackFn &

callback

)

Set the callback to be triggered when changes are made to the current scene world.

Definition at line 645 of file planning_scene.cpp.

setCurrentState() [1/2]

void planning_scene::PlanningScene::setCurrentState

(

const moveit::core::RobotState &

state

)

Set the current robot state.

Definition at line 1245 of file planning_scene.cpp.

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setCurrentState() [2/2]

void planning_scene::PlanningScene::setCurrentState

(

const moveit_msgs::msg::RobotState &

state

)

Set the current robot state to be state. If not all joint values are specified, the previously maintained joint values are kept.

Definition at line 1212 of file planning_scene.cpp.

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setMotionFeasibilityPredicate()

void planning_scene::PlanningScene::setMotionFeasibilityPredicate ( const MotionFeasibilityFn &  fn )

inline

Specify a predicate that decides whether motion segments are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation.

Definition at line 767 of file planning_scene.h.

setName()

void planning_scene::PlanningScene::setName ( const std::string &  name )

inline

Set the name of the planning scene.

Definition at line 125 of file planning_scene.h.

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setObjectColor()

void planning_scene::PlanningScene::setObjectColor	(	const std::string &	id,
		const std_msgs::msg::ColorRGBA &	color
	)

Definition at line 2166 of file planning_scene.cpp.

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setObjectType()

void planning_scene::PlanningScene::setObjectType	(	const std::string &	id,
		const object_recognition_msgs::msg::ObjectType &	type
	)

Definition at line 2092 of file planning_scene.cpp.

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setPlanningSceneDiffMsg()

bool planning_scene::PlanningScene::setPlanningSceneDiffMsg

(

const moveit_msgs::msg::PlanningScene &

scene

)

Apply changes to this planning scene as diffs, even if the message itself is not marked as being a diff (is_diff member). A parent is not required to exist. However, the existing data in the planning instance is not cleared. Data from the message is only appended (and in cases such as e.g., the robot state, is overwritten).

Definition at line 1309 of file planning_scene.cpp.

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setPlanningSceneMsg()

bool planning_scene::PlanningScene::setPlanningSceneMsg

(

const moveit_msgs::msg::PlanningScene &

scene

)

Set this instance of a planning scene to be the same as the one serialized in the scene message, even if the message itself is marked as being a diff (is_diff member)

Definition at line 1362 of file planning_scene.cpp.

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setStateFeasibilityPredicate()

void planning_scene::PlanningScene::setStateFeasibilityPredicate ( const StateFeasibilityFn &  fn )

inline

Specify a predicate that decides whether states are considered valid or invalid for reasons beyond ones covered by collision checking and constraint evaluation. This is useful for setting up problem specific constraints (e.g., stability)

Definition at line 753 of file planning_scene.h.

shapesAndPosesFromCollisionObjectMessage()

bool planning_scene::PlanningScene::shapesAndPosesFromCollisionObjectMessage	(	const moveit_msgs::msg::CollisionObject &	object,
		Eigen::Isometry3d &	object_pose_in_header_frame,
		std::vector< shapes::ShapeConstPtr > &	shapes,
		EigenSTL::vector_Isometry3d &	shape_poses
	)

Takes the object message and returns the object pose, shapes and shape poses. If the object pose is empty (identity) but the shape pose is set, this uses the shape pose as the object pose. The shape pose becomes the identity instead.

Definition at line 1794 of file planning_scene.cpp.

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usePlanningSceneMsg()

bool planning_scene::PlanningScene::usePlanningSceneMsg

(

const moveit_msgs::msg::PlanningScene &

scene

)

Call setPlanningSceneMsg() or setPlanningSceneDiffMsg() depending on how the is_diff member of the message is set.

Definition at line 1400 of file planning_scene.cpp.

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Friends And Related Symbol Documentation

CollisionDetector

friend struct CollisionDetector

friend

Enumerates the available collision detectors.

Definition at line 966 of file planning_scene.h.

Member Data Documentation

DEFAULT_SCENE_NAME

const std::string planning_scene::PlanningScene::DEFAULT_SCENE_NAME = "(noname)"

static

Definition at line 114 of file planning_scene.h.

OCTOMAP_NS

const std::string planning_scene::PlanningScene::OCTOMAP_NS = "<octomap>"

static

Definition at line 113 of file planning_scene.h.

---

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

• moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
• moveit_core/planning_scene/src/planning_scene.cpp