moveit2
The MoveIt Motion Planning Framework for ROS 2.
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#include <planning_groups.hpp>
Public Member Functions | |
std::string | getName () const override |
Returns the name of the setup step. More... | |
std::vector< srdf::Model::Group > & | getContainer () override |
Returns the reference to the vector in the SRDF. More... | |
InformationFields | getInfoField () const override |
Returns the info field associated with this part of the SRDF. More... | |
void | onInit () override |
Overridable initialization method. More... | |
std::vector< srdf::Model::Group > & | getGroups () |
void | renameGroup (const std::string &old_group_name, const std::string &new_group_name) |
void | deleteGroup (const std::string &group_name) |
void | setJoints (const std::string &group_name, const std::vector< std::string > &joint_names) |
Set the specified group's joint names. More... | |
void | setLinks (const std::string &group_name, const std::vector< std::string > &link_names) |
Set the specified group's link names. More... | |
void | setChain (const std::string &group_name, const std::string &base, const std::string &tip) |
Set the specified group's kinematic chain. More... | |
void | setSubgroups (const std::string &selected_group_name, const std::vector< std::string > &subgroups) |
Set the specified group's subgroups. More... | |
const GroupMetaData & | getMetaData (const std::string &group_name) const |
void | setMetaData (const std::string &group_name, const GroupMetaData &meta_data) |
std::vector< std::string > | getGroupNames () const |
const std::vector< std::string > & | getJointNames () const |
const std::vector< std::string > & | getLinkNames () const |
std::string | getChildOfJoint (const std::string &joint_name) const |
std::string | getJointType (const std::string &joint_name) const |
LinkNameTree | getLinkNameTree () const |
std::vector< std::string > | getPosesByGroup (const std::string &group_name) const |
std::vector< std::string > | getEndEffectorsByGroup (const std::string &group_name) const |
std::vector< std::string > | getKinematicPlanners () const |
std::vector< std::string > | getOMPLPlanners () const |
Public Member Functions inherited from moveit_setup::srdf_setup::SuperSRDFStep< srdf::Model::Group > | |
srdf::Model::Group * | find (const std::string &name) |
Return a pointer to an item with the given name if it exists, otherwise null. More... | |
srdf::Model::Group * | create (const std::string &name) |
Create an item with the given name and return the pointer. More... | |
srdf::Model::Group * | rename (const std::string &old_name, const std::string &new_name) |
Renames an item and returns a pointer to the item. More... | |
bool | remove (const std::string &name) |
Delete an item with the given name from the list. More... | |
srdf::Model::Group * | get (const std::string &name, const std::string &old_name="") |
Get a pointer to an item with the given name, creating if necessary. If old_name is provided (and is different) will rename the given item. More... | |
Public Member Functions inherited from moveit_setup::srdf_setup::SRDFStep | |
void | onInit () override |
Overridable initialization method. More... | |
bool | isReady () const override |
Return true if the data necessary to proceed with this step has been configured. More... | |
bool | hasGroups () const |
Public Member Functions inherited from moveit_setup::SetupStep | |
SetupStep ()=default | |
SetupStep (const SetupStep &)=default | |
SetupStep (SetupStep &&)=default | |
SetupStep & | operator= (const SetupStep &)=default |
SetupStep & | operator= (SetupStep &&)=default |
virtual | ~SetupStep ()=default |
void | initialize (const rclcpp::Node::SharedPtr &parent_node, const DataWarehousePtr &config_data) |
Called after construction to initialize the step. More... | |
const rclcpp::Logger & | getLogger () const |
Makes a namespaced logger for this step available to the widget. More... | |
Protected Attributes | |
std::shared_ptr< GroupMetaConfig > | group_meta_config_ |
Protected Attributes inherited from moveit_setup::srdf_setup::SRDFStep | |
std::shared_ptr< SRDFConfig > | srdf_config_ |
Protected Attributes inherited from moveit_setup::SetupStep | |
DataWarehousePtr | config_data_ |
rclcpp::Node::SharedPtr | parent_node_ |
std::shared_ptr< rclcpp::Logger > | logger_ |
Definition at line 66 of file planning_groups.hpp.
void moveit_setup::srdf_setup::PlanningGroups::deleteGroup | ( | const std::string & | group_name | ) |
std::string moveit_setup::srdf_setup::PlanningGroups::getChildOfJoint | ( | const std::string & | joint_name | ) | const |
Definition at line 343 of file planning_groups.cpp.
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inlineoverridevirtual |
Returns the reference to the vector in the SRDF.
Implements moveit_setup::srdf_setup::SuperSRDFStep< srdf::Model::Group >.
Definition at line 74 of file planning_groups.hpp.
std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getEndEffectorsByGroup | ( | const std::string & | group_name | ) | const |
Definition at line 377 of file planning_groups.cpp.
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inline |
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inline |
Definition at line 86 of file planning_groups.hpp.
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inlineoverridevirtual |
Returns the info field associated with this part of the SRDF.
Implements moveit_setup::srdf_setup::SuperSRDFStep< srdf::Model::Group >.
Definition at line 79 of file planning_groups.hpp.
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inline |
Definition at line 131 of file planning_groups.hpp.
std::string moveit_setup::srdf_setup::PlanningGroups::getJointType | ( | const std::string & | joint_name | ) | const |
std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getKinematicPlanners | ( | ) | const |
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inline |
LinkNameTree moveit_setup::srdf_setup::PlanningGroups::getLinkNameTree | ( | ) | const |
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inline |
Definition at line 116 of file planning_groups.hpp.
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inlineoverridevirtual |
Returns the name of the setup step.
Implements moveit_setup::SetupStep.
Definition at line 69 of file planning_groups.hpp.
std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getOMPLPlanners | ( | ) | const |
std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getPosesByGroup | ( | const std::string & | group_name | ) | const |
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overridevirtual |
Overridable initialization method.
Reimplemented from moveit_setup::SetupStep.
Definition at line 66 of file planning_groups.cpp.
void moveit_setup::srdf_setup::PlanningGroups::renameGroup | ( | const std::string & | old_group_name, |
const std::string & | new_group_name | ||
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void moveit_setup::srdf_setup::PlanningGroups::setChain | ( | const std::string & | group_name, |
const std::string & | base, | ||
const std::string & | tip | ||
) |
Set the specified group's kinematic chain.
runtime_error | If base/tip are invalid |
Definition at line 207 of file planning_groups.cpp.
void moveit_setup::srdf_setup::PlanningGroups::setJoints | ( | const std::string & | group_name, |
const std::vector< std::string > & | joint_names | ||
) |
Set the specified group's joint names.
Definition at line 183 of file planning_groups.cpp.
void moveit_setup::srdf_setup::PlanningGroups::setLinks | ( | const std::string & | group_name, |
const std::vector< std::string > & | link_names | ||
) |
Set the specified group's link names.
Definition at line 195 of file planning_groups.cpp.
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inline |
Definition at line 121 of file planning_groups.hpp.
void moveit_setup::srdf_setup::PlanningGroups::setSubgroups | ( | const std::string & | selected_group_name, |
const std::vector< std::string > & | subgroups | ||
) |
Set the specified group's subgroups.
runtime_error | If subgroup would result in a cycle |
Definition at line 269 of file planning_groups.cpp.
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protected |
Definition at line 150 of file planning_groups.hpp.