moveit2
The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Protected Attributes | List of all members
moveit_setup::srdf_setup::PlanningGroups Class Reference

#include <planning_groups.hpp>

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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 GroupMetaDatagetMetaData (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
 
SetupStepoperator= (const SetupStep &)=default
 
SetupStepoperator= (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< GroupMetaConfiggroup_meta_config_
 
- Protected Attributes inherited from moveit_setup::srdf_setup::SRDFStep
std::shared_ptr< SRDFConfigsrdf_config_
 
- Protected Attributes inherited from moveit_setup::SetupStep
DataWarehousePtr config_data_
 
rclcpp::Node::SharedPtr parent_node_
 
std::shared_ptr< rclcpp::Logger > logger_
 

Detailed Description

Definition at line 66 of file planning_groups.hpp.

Member Function Documentation

◆ deleteGroup()

void moveit_setup::srdf_setup::PlanningGroups::deleteGroup ( const std::string &  group_name)

Definition at line 136 of file planning_groups.cpp.

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◆ getChildOfJoint()

std::string moveit_setup::srdf_setup::PlanningGroups::getChildOfJoint ( const std::string &  joint_name) const

Definition at line 343 of file planning_groups.cpp.

◆ getContainer()

std::vector<srdf::Model::Group>& moveit_setup::srdf_setup::PlanningGroups::getContainer ( )
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.

◆ getEndEffectorsByGroup()

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.

◆ getGroupNames()

std::vector<std::string> moveit_setup::srdf_setup::PlanningGroups::getGroupNames ( ) const
inline

Definition at line 126 of file planning_groups.hpp.

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◆ getGroups()

std::vector<srdf::Model::Group>& moveit_setup::srdf_setup::PlanningGroups::getGroups ( )
inline

Definition at line 86 of file planning_groups.hpp.

◆ getInfoField()

InformationFields moveit_setup::srdf_setup::PlanningGroups::getInfoField ( ) const
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.

◆ getJointNames()

const std::vector<std::string>& moveit_setup::srdf_setup::PlanningGroups::getJointNames ( ) const
inline

Definition at line 131 of file planning_groups.hpp.

◆ getJointType()

std::string moveit_setup::srdf_setup::PlanningGroups::getJointType ( const std::string &  joint_name) const

Definition at line 348 of file planning_groups.cpp.

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◆ getKinematicPlanners()

std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getKinematicPlanners ( ) const

Definition at line 390 of file planning_groups.cpp.

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◆ getLinkNames()

const std::vector<std::string>& moveit_setup::srdf_setup::PlanningGroups::getLinkNames ( ) const
inline

Definition at line 136 of file planning_groups.hpp.

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◆ getLinkNameTree()

LinkNameTree moveit_setup::srdf_setup::PlanningGroups::getLinkNameTree ( ) const

Definition at line 358 of file planning_groups.cpp.

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◆ getMetaData()

const GroupMetaData& moveit_setup::srdf_setup::PlanningGroups::getMetaData ( const std::string &  group_name) const
inline

Definition at line 116 of file planning_groups.hpp.

◆ getName()

std::string moveit_setup::srdf_setup::PlanningGroups::getName ( ) const
inlineoverridevirtual

Returns the name of the setup step.

Implements moveit_setup::SetupStep.

Definition at line 69 of file planning_groups.hpp.

◆ getOMPLPlanners()

std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getOMPLPlanners ( ) const

Definition at line 418 of file planning_groups.cpp.

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◆ getPosesByGroup()

std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getPosesByGroup ( const std::string &  group_name) const

Definition at line 364 of file planning_groups.cpp.

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◆ onInit()

void moveit_setup::srdf_setup::PlanningGroups::onInit ( )
overridevirtual

Overridable initialization method.

Reimplemented from moveit_setup::SetupStep.

Definition at line 66 of file planning_groups.cpp.

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◆ renameGroup()

void moveit_setup::srdf_setup::PlanningGroups::renameGroup ( const std::string &  old_group_name,
const std::string &  new_group_name 
)

Definition at line 73 of file planning_groups.cpp.

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◆ setChain()

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.

Exceptions
runtime_errorIf base/tip are invalid

Definition at line 207 of file planning_groups.cpp.

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◆ setJoints()

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.

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◆ setLinks()

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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◆ setMetaData()

void moveit_setup::srdf_setup::PlanningGroups::setMetaData ( const std::string &  group_name,
const GroupMetaData meta_data 
)
inline

Definition at line 121 of file planning_groups.hpp.

◆ setSubgroups()

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.

Exceptions
runtime_errorIf subgroup would result in a cycle

Definition at line 269 of file planning_groups.cpp.

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Member Data Documentation

◆ group_meta_config_

std::shared_ptr<GroupMetaConfig> moveit_setup::srdf_setup::PlanningGroups::group_meta_config_
protected

Definition at line 150 of file planning_groups.hpp.


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