This namespace includes the central class for representing planning contexts. More...
Namespaces | |
| namespace | utilities |
Classes | |
| class | PlanningScene |
| 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... | |
| class | SceneTransforms |
Typedefs | |
| typedef std::function< bool(const moveit::core::RobotState &, bool)> | StateFeasibilityFn |
| This is the function signature for additional feasibility checks to be imposed on states (in addition to respecting constraints and collision avoidance). The first argument is the state to check the feasibility for, the second one is whether the check should be verbose or not. | |
| using | MotionFeasibilityFn = std::function< bool(const moveit::core::RobotState &, const moveit::core::RobotState &, bool)> |
| This is the function signature for additional feasibility checks to be imposed on motions segments between states (in addition to respecting constraints and collision avoidance). The order of the arguments matters: the notion of feasibility is to be checked for motion segments that start at the first state and end at the second state. The third argument indicates whether the check should be verbose or not. | |
| using | ObjectColorMap = std::map< std::string, std_msgs::msg::ColorRGBA > |
| A map from object names (e.g., attached bodies, collision objects) to their colors. | |
| using | ObjectTypeMap = std::map< std::string, object_recognition_msgs::msg::ObjectType > |
| A map from object names (e.g., attached bodies, collision objects) to their types. | |
Functions | |
| MOVEIT_CLASS_FORWARD (PlanningScene) | |
| collision_detection::OccMapTreePtr | createOctomap (const octomap_msgs::msg::Octomap &map) |
Detailed Description
This namespace includes the central class for representing planning contexts.
Typedef Documentation
◆ MotionFeasibilityFn
| using planning_scene::MotionFeasibilityFn = typedef std::function<bool(const moveit::core::RobotState&, const moveit::core::RobotState&, bool)> |
This is the function signature for additional feasibility checks to be imposed on motions segments between states (in addition to respecting constraints and collision avoidance). The order of the arguments matters: the notion of feasibility is to be checked for motion segments that start at the first state and end at the second state. The third argument indicates whether the check should be verbose or not.
Definition at line 80 of file planning_scene.h.
◆ ObjectColorMap
| using planning_scene::ObjectColorMap = typedef std::map<std::string, std_msgs::msg::ColorRGBA> |
A map from object names (e.g., attached bodies, collision objects) to their colors.
Definition at line 83 of file planning_scene.h.
◆ ObjectTypeMap
| using planning_scene::ObjectTypeMap = typedef std::map<std::string, object_recognition_msgs::msg::ObjectType> |
A map from object names (e.g., attached bodies, collision objects) to their types.
Definition at line 86 of file planning_scene.h.
◆ StateFeasibilityFn
| typedef std::function<bool(const moveit::core::RobotState&, bool)> planning_scene::StateFeasibilityFn |
This is the function signature for additional feasibility checks to be imposed on states (in addition to respecting constraints and collision avoidance). The first argument is the state to check the feasibility for, the second one is whether the check should be verbose or not.
Definition at line 73 of file planning_scene.h.
Function Documentation
◆ createOctomap()
| collision_detection::OccMapTreePtr planning_scene::createOctomap | ( | const octomap_msgs::msg::Octomap & | map | ) |
◆ MOVEIT_CLASS_FORWARD()
| planning_scene::MOVEIT_CLASS_FORWARD | ( | PlanningScene | ) |
