moveit2
The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
move_group::MoveGroupCapability Class Referenceabstract

#include <move_group_capability.h>

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Public Member Functions

 MoveGroupCapability (const std::string &capability_name)
 
virtual ~MoveGroupCapability ()
 
void setContext (const MoveGroupContextPtr &context)
 
virtual void initialize ()=0
 
const std::string & getName () const
 

Protected Member Functions

std::string getActionResultString (const moveit_msgs::msg::MoveItErrorCodes &error_code, bool planned_trajectory_empty, bool plan_only)
 
std::string stateToStr (MoveGroupState state) const
 
void convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::msg::RobotState &first_state_msg, std::vector< moveit_msgs::msg::RobotTrajectory > &trajectory_msg) const
 
void convertToMsg (const robot_trajectory::RobotTrajectoryPtr &trajectory, moveit_msgs::msg::RobotState &first_state_msg, moveit_msgs::msg::RobotTrajectory &trajectory_msg) const
 
void convertToMsg (const std::vector< plan_execution::ExecutableTrajectory > &trajectory, moveit_msgs::msg::RobotState &first_state_msg, moveit_msgs::msg::RobotTrajectory &trajectory_msg) const
 
planning_interface::MotionPlanRequest clearRequestStartState (const planning_interface::MotionPlanRequest &request) const
 
moveit_msgs::msg::PlanningScene clearSceneRobotState (const moveit_msgs::msg::PlanningScene &scene) const
 
bool performTransform (geometry_msgs::msg::PoseStamped &pose_msg, const std::string &target_frame) const
 
planning_pipeline::PlanningPipelinePtr resolvePlanningPipeline (const std::string &pipeline_id) const
 

Protected Attributes

std::string capability_name_
 
MoveGroupContextPtr context_
 

Detailed Description

Definition at line 57 of file move_group_capability.h.

Constructor & Destructor Documentation

◆ MoveGroupCapability()

move_group::MoveGroupCapability::MoveGroupCapability ( const std::string &  capability_name)
inlineexplicit

Definition at line 60 of file move_group_capability.h.

◆ ~MoveGroupCapability()

virtual move_group::MoveGroupCapability::~MoveGroupCapability ( )
inlinevirtual

Definition at line 64 of file move_group_capability.h.

Member Function Documentation

◆ clearRequestStartState()

planning_interface::MotionPlanRequest move_group::MoveGroupCapability::clearRequestStartState ( const planning_interface::MotionPlanRequest &  request) const
protected

Definition at line 112 of file move_group_capability.cpp.

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◆ clearSceneRobotState()

moveit_msgs::msg::PlanningScene move_group::MoveGroupCapability::clearSceneRobotState ( const moveit_msgs::msg::PlanningScene &  scene) const
protected

Definition at line 124 of file move_group_capability.cpp.

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◆ convertToMsg() [1/3]

void move_group::MoveGroupCapability::convertToMsg ( const robot_trajectory::RobotTrajectoryPtr &  trajectory,
moveit_msgs::msg::RobotState &  first_state_msg,
moveit_msgs::msg::RobotTrajectory &  trajectory_msg 
) const
protected

Definition at line 85 of file move_group_capability.cpp.

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◆ convertToMsg() [2/3]

void move_group::MoveGroupCapability::convertToMsg ( const std::vector< plan_execution::ExecutableTrajectory > &  trajectory,
moveit_msgs::msg::RobotState &  first_state_msg,
moveit_msgs::msg::RobotTrajectory &  trajectory_msg 
) const
protected

Definition at line 96 of file move_group_capability.cpp.

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◆ convertToMsg() [3/3]

void move_group::MoveGroupCapability::convertToMsg ( const std::vector< plan_execution::ExecutableTrajectory > &  trajectory,
moveit_msgs::msg::RobotState &  first_state_msg,
std::vector< moveit_msgs::msg::RobotTrajectory > &  trajectory_msg 
) const
protected

Definition at line 62 of file move_group_capability.cpp.

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◆ getActionResultString()

std::string move_group::MoveGroupCapability::getActionResultString ( const moveit_msgs::msg::MoveItErrorCodes &  error_code,
bool  planned_trajectory_empty,
bool  plan_only 
)
protected

Definition at line 135 of file move_group_capability.cpp.

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◆ getName()

const std::string& move_group::MoveGroupCapability::getName ( ) const
inline

Definition at line 72 of file move_group_capability.h.

◆ initialize()

virtual void move_group::MoveGroupCapability::initialize ( )
pure virtual

Implemented in move_group::TfPublisher, move_group::MoveGroupStateValidationService, move_group::SaveGeometryToFileService, move_group::MoveGroupQueryPlannersService, move_group::MoveGroupPlanService, move_group::MoveGroupMoveAction, move_group::LoadGeometryFromFileService, move_group::MoveGroupKinematicsService, move_group::MoveGroupGetPlanningSceneService, move_group::GetUrdfService, move_group::MoveGroupExecuteTrajectoryAction, move_group::ClearOctomapService, move_group::MoveGroupCartesianPathService, move_group::ApplyPlanningSceneService, pilz_industrial_motion_planner::MoveGroupSequenceService, and pilz_industrial_motion_planner::MoveGroupSequenceAction.

◆ performTransform()

bool move_group::MoveGroupCapability::performTransform ( geometry_msgs::msg::PoseStamped &  pose_msg,
const std::string &  target_frame 
) const
protected

Definition at line 194 of file move_group_capability.cpp.

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◆ resolvePlanningPipeline()

planning_pipeline::PlanningPipelinePtr move_group::MoveGroupCapability::resolvePlanningPipeline ( const std::string &  pipeline_id) const
protected

Definition at line 223 of file move_group_capability.cpp.

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◆ setContext()

void move_group::MoveGroupCapability::setContext ( const MoveGroupContextPtr &  context)

Definition at line 57 of file move_group_capability.cpp.

◆ stateToStr()

std::string move_group::MoveGroupCapability::stateToStr ( MoveGroupState  state) const
protected

Definition at line 177 of file move_group_capability.cpp.

Member Data Documentation

◆ capability_name_

std::string move_group::MoveGroupCapability::capability_name_
protected

Definition at line 99 of file move_group_capability.h.

◆ context_

MoveGroupContextPtr move_group::MoveGroupCapability::context_
protected

Definition at line 100 of file move_group_capability.h.

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