#include <motion_planning_frame.h>

Inheritance diagram for moveit_rviz_plugin::MotionPlanningFrame:

Collaboration diagram for moveit_rviz_plugin::MotionPlanningFrame:

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Signals
void	planningFinished ()

void	configChanged ()

Public Member Functions
	MotionPlanningFrame (const MotionPlanningFrame &)=delete

	MotionPlanningFrame (MotionPlanningDisplay pdisplay, rviz_common::DisplayContext context, QWidget *parent=nullptr)

	~MotionPlanningFrame () override

void	clearRobotModel ()

void	changePlanningGroup ()

void	enable ()

void	disable ()

void	sceneUpdate (planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type)

Protected Types
typedef std::map< std::string, moveit_msgs::msg::RobotState >	RobotStateMap

typedef std::pair< std::string, moveit_msgs::msg::RobotState >	RobotStatePair

Protected Member Functions
void	initFromMoveGroupNS ()

void	constructPlanningRequest (moveit_msgs::msg::MotionPlanRequest &mreq)

void	updateSceneMarkers (double wall_dt, double ros_dt)

void	updateExternalCommunication ()

Protected Attributes
MotionPlanningDisplay *	planning_display_

rviz_common::DisplayContext *	context_

Ui::MotionPlanningUI *	ui_

MotionPlanningFrameJointsWidget *	joints_tab_

moveit::planning_interface::MoveGroupInterfacePtr	move_group_

moveit::planning_interface::MoveGroupInterface::PlanPtr	current_plan_

moveit_warehouse::PlanningSceneStoragePtr	planning_scene_storage_

moveit_warehouse::ConstraintsStoragePtr	constraints_storage_

moveit_warehouse::RobotStateStoragePtr	robot_state_storage_

std::shared_ptr< rviz_default_plugins::displays::InteractiveMarker >	scene_marker_

RobotStateMap	robot_states_

std::string	default_planning_pipeline_

std::vector< moveit_msgs::msg::PlannerInterfaceDescription >	planner_descriptions_

Static Protected Attributes
static const int	ITEM_TYPE_SCENE = 1

static const int	ITEM_TYPE_QUERY = 2

Friends
class	MotionPlanningDisplay

Detailed Description

Definition at line 102 of file motion_planning_frame.h.

Member Typedef Documentation

◆ RobotStateMap

typedef std::map<std::string, moveit_msgs::msg::RobotState> moveit_rviz_plugin::MotionPlanningFrame::RobotStateMap

protected

Definition at line 145 of file motion_planning_frame.h.

◆ RobotStatePair

typedef std::pair<std::string, moveit_msgs::msg::RobotState> moveit_rviz_plugin::MotionPlanningFrame::RobotStatePair

protected

Definition at line 146 of file motion_planning_frame.h.

Constructor & Destructor Documentation

◆ MotionPlanningFrame() [1/2]

moveit_rviz_plugin::MotionPlanningFrame::MotionPlanningFrame ( const MotionPlanningFrame & )

delete

◆ MotionPlanningFrame() [2/2]

moveit_rviz_plugin::MotionPlanningFrame::MotionPlanningFrame	(	MotionPlanningDisplay *	pdisplay,
		rviz_common::DisplayContext *	context,
		QWidget *	parent = `nullptr`
	)

Definition at line 65 of file motion_planning_frame.cpp.

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◆ ~MotionPlanningFrame()

moveit_rviz_plugin::MotionPlanningFrame::~MotionPlanningFrame ( )

override

Definition at line 245 of file motion_planning_frame.cpp.

Member Function Documentation

◆ changePlanningGroup()

void moveit_rviz_plugin::MotionPlanningFrame::changePlanningGroup ( )

Definition at line 448 of file motion_planning_frame.cpp.

◆ clearRobotModel()

void moveit_rviz_plugin::MotionPlanningFrame::clearRobotModel ( )

Definition at line 441 of file motion_planning_frame.cpp.

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◆ configChanged

void moveit_rviz_plugin::MotionPlanningFrame::configChanged ( )

signal

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◆ constructPlanningRequest()

void moveit_rviz_plugin::MotionPlanningFrame::constructPlanningRequest ( moveit_msgs::msg::MotionPlanRequest & mreq )

protected

Definition at line 486 of file motion_planning_frame_planning.cpp.

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◆ disable()

void moveit_rviz_plugin::MotionPlanningFrame::disable ( )

Definition at line 661 of file motion_planning_frame.cpp.

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◆ enable()

void moveit_rviz_plugin::MotionPlanningFrame::enable ( )

Definition at line 596 of file motion_planning_frame.cpp.

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◆ initFromMoveGroupNS()

void moveit_rviz_plugin::MotionPlanningFrame::initFromMoveGroupNS ( )

protected

Definition at line 618 of file motion_planning_frame.cpp.

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◆ planningFinished

void moveit_rviz_plugin::MotionPlanningFrame::planningFinished ( )

signal

◆ sceneUpdate()

void moveit_rviz_plugin::MotionPlanningFrame::sceneUpdate ( planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type )

Definition at line 456 of file motion_planning_frame.cpp.

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◆ updateExternalCommunication()

void moveit_rviz_plugin::MotionPlanningFrame::updateExternalCommunication ( )

protected

Definition at line 687 of file motion_planning_frame.cpp.

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◆ updateSceneMarkers()

void moveit_rviz_plugin::MotionPlanningFrame::updateSceneMarkers	(	double	wall_dt,
		double	ros_dt
	)

protected

Definition at line 681 of file motion_planning_frame.cpp.

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Friends And Related Function Documentation

◆ MotionPlanningDisplay

friend class MotionPlanningDisplay

friend

Definition at line 104 of file motion_planning_frame.h.

Member Data Documentation

◆ constraints_storage_

moveit_warehouse::ConstraintsStoragePtr moveit_rviz_plugin::MotionPlanningFrame::constraints_storage_

protected

Definition at line 140 of file motion_planning_frame.h.

◆ context_

rviz_common::DisplayContext* moveit_rviz_plugin::MotionPlanningFrame::context_

protected

Definition at line 130 of file motion_planning_frame.h.

◆ current_plan_

moveit::planning_interface::MoveGroupInterface::PlanPtr moveit_rviz_plugin::MotionPlanningFrame::current_plan_

protected

Definition at line 138 of file motion_planning_frame.h.

◆ default_planning_pipeline_

std::string moveit_rviz_plugin::MotionPlanningFrame::default_planning_pipeline_

protected

Definition at line 148 of file motion_planning_frame.h.

◆ ITEM_TYPE_QUERY

const int moveit_rviz_plugin::MotionPlanningFrame::ITEM_TYPE_QUERY = 2

staticprotected

Definition at line 120 of file motion_planning_frame.h.

◆ ITEM_TYPE_SCENE

const int moveit_rviz_plugin::MotionPlanningFrame::ITEM_TYPE_SCENE = 1

staticprotected

Definition at line 119 of file motion_planning_frame.h.

◆ joints_tab_

MotionPlanningFrameJointsWidget* moveit_rviz_plugin::MotionPlanningFrame::joints_tab_

protected

Definition at line 132 of file motion_planning_frame.h.

◆ move_group_

moveit::planning_interface::MoveGroupInterfacePtr moveit_rviz_plugin::MotionPlanningFrame::move_group_

protected

Definition at line 134 of file motion_planning_frame.h.

◆ planner_descriptions_

std::vector<moveit_msgs::msg::PlannerInterfaceDescription> moveit_rviz_plugin::MotionPlanningFrame::planner_descriptions_

protected

Definition at line 149 of file motion_planning_frame.h.

◆ planning_display_

MotionPlanningDisplay* moveit_rviz_plugin::MotionPlanningFrame::planning_display_

protected

Definition at line 129 of file motion_planning_frame.h.

◆ planning_scene_storage_

moveit_warehouse::PlanningSceneStoragePtr moveit_rviz_plugin::MotionPlanningFrame::planning_scene_storage_

protected

Definition at line 139 of file motion_planning_frame.h.

◆ robot_state_storage_

moveit_warehouse::RobotStateStoragePtr moveit_rviz_plugin::MotionPlanningFrame::robot_state_storage_

protected

Definition at line 141 of file motion_planning_frame.h.

◆ robot_states_

RobotStateMap moveit_rviz_plugin::MotionPlanningFrame::robot_states_

protected

Definition at line 147 of file motion_planning_frame.h.

◆ scene_marker_

std::shared_ptr<rviz_default_plugins::displays::InteractiveMarker> moveit_rviz_plugin::MotionPlanningFrame::scene_marker_

protected

Definition at line 143 of file motion_planning_frame.h.

◆ ui_

Ui::MotionPlanningUI* moveit_rviz_plugin::MotionPlanningFrame::ui_

protected

Definition at line 131 of file motion_planning_frame.h.

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

moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp
moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_manipulation.cpp
moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp
moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_scenes.cpp
moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp

Signals

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ RobotStateMap

◆ RobotStatePair

Constructor & Destructor Documentation

◆ MotionPlanningFrame() [1/2]

◆ MotionPlanningFrame() [2/2]

◆ ~MotionPlanningFrame()

Member Function Documentation

◆ changePlanningGroup()

◆ clearRobotModel()

◆ configChanged

◆ constructPlanningRequest()

◆ disable()

◆ enable()

◆ initFromMoveGroupNS()

◆ planningFinished

◆ sceneUpdate()

◆ updateExternalCommunication()

◆ updateSceneMarkers()

Friends And Related Function Documentation

◆ MotionPlanningDisplay

Member Data Documentation

◆ constraints_storage_

◆ context_

◆ current_plan_

◆ default_planning_pipeline_

◆ ITEM_TYPE_QUERY

◆ ITEM_TYPE_SCENE

◆ joints_tab_

◆ move_group_

◆ planner_descriptions_

◆ planning_display_

◆ planning_scene_storage_

◆ robot_state_storage_

◆ robot_states_

◆ scene_marker_

◆ ui_