moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Classes | Namespaces | Typedefs | Enumerations | Functions
datatypes.hpp File Reference
#include <string>
#include <tf2_eigen/tf2_eigen.hpp>
#include <unordered_map>
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Classes

struct  moveit_servo::JointJogCommand
 
struct  moveit_servo::TwistCommand
 
struct  moveit_servo::PoseCommand
 
struct  moveit_servo::KinematicState
 

Namespaces

namespace  moveit_servo
 

Typedefs

typedef std::pair< StatusCode, Eigen::VectorXd > moveit_servo::JointDeltaResult
 
typedef std::variant< JointJogCommand, TwistCommand, PoseCommandmoveit_servo::ServoInput
 
typedef std::unordered_map< std::string, std::size_t > moveit_servo::JointNameToMoveGroupIndexMap
 

Enumerations

enum class  moveit_servo::StatusCode : int8_t {
  moveit_servo::INVALID = -1 , moveit_servo::NO_WARNING = 0 , moveit_servo::DECELERATE_FOR_APPROACHING_SINGULARITY = 1 , moveit_servo::HALT_FOR_SINGULARITY = 2 ,
  moveit_servo::DECELERATE_FOR_LEAVING_SINGULARITY = 3 , moveit_servo::DECELERATE_FOR_COLLISION = 4 , moveit_servo::HALT_FOR_COLLISION = 5 , moveit_servo::JOINT_BOUND = 6
}
 
enum class  moveit_servo::CommandType : int8_t {
  moveit_servo::JOINT_JOG = 0 , moveit_servo::TWIST = 1 , moveit_servo::POSE = 2 , moveit_servo::MIN = JOINT_JOG ,
  moveit_servo::MAX = POSE
}
 

Functions

const std::unordered_map< StatusCode, std::string > moveit_servo::SERVO_STATUS_CODE_MAP ({ { StatusCode::INVALID, "Invalid" }, { StatusCode::NO_WARNING, "No warnings" }, { StatusCode::DECELERATE_FOR_APPROACHING_SINGULARITY, "Moving closer to a singularity, decelerating" }, { StatusCode::HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" }, { StatusCode::DECELERATE_FOR_LEAVING_SINGULARITY, "Moving away from a singularity, decelerating" }, { StatusCode::DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" }, { StatusCode::HALT_FOR_COLLISION, "Collision detected, emergency stop" }, { StatusCode::JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } })