Core components of MoveIt. More...

Classes
class	AABB
	Represents an axis-aligned bounding box. More...

class	FixedJointModel
	A fixed joint. More...

class	FloatingJointModel
	A floating joint. More...

struct	VariableBounds

class	JointModel
	A joint from the robot. Models the transform that this joint applies in the kinematic chain. A joint consists of multiple variables. In the simplest case, when the joint is a single DOF, there is only one variable and its name is the same as the joint's name. For multi-DOF joints, each variable has a local name (e.g., x, y) but the full variable name as seen from the outside of this class is a concatenation of the "joint name"/"local name" (e.g., a joint named 'base' with local variables 'x' and 'y' will store its full variable names as 'base/x' and 'base/y'). Local names are never used to reference variables directly. More...

class	JointModelGroup

class	LinkModel
	A link from the robot. Contains the constant transform applied to the link and its geometry. More...

class	PlanarJointModel
	A planar joint. More...

class	PrismaticJointModel
	A prismatic joint. More...

class	RevoluteJointModel
	A revolute joint. More...

class	RobotModel
	Definition of a kinematic model. This class is not thread safe, however multiple instances can be created. More...

class	AttachedBody
	Object defining bodies that can be attached to robot links. More...

struct	CartesianPrecision

struct	JumpThreshold
	Struct with options for defining joint-space jump thresholds. More...

struct	MaxEEFStep
	Struct for containing max_step for computeCartesianPath. More...

class	CartesianInterpolator

class	RobotState
	Representation of a robot's state. This includes position, velocity, acceleration and effort. More...

class	Transforms
	Provides an implementation of a snapshot of a transform tree that can be easily queried for transforming different quantities. Transforms are maintained as a list of transforms to a particular frame. All stored transforms are considered fixed. More...

class	MoveItErrorCode
	a wrapper around moveit_msgs::MoveItErrorCodes to make it easier to return an error code message from a function More...

class	RobotModelBuilder
	Easily build different robot models for testing. Essentially a programmer-friendly light wrapper around URDF and SRDF. Best shown by an example: More...

Typedefs
typedef std::map< std::string, size_t >	VariableIndexMap
	Data type for holding mappings from variable names to their position in a state vector. More...

using	VariableBoundsMap = std::map< std::string, VariableBounds >
	Data type for holding mappings from variable names to their bounds. More...

using	JointModelMap = std::map< std::string, JointModel * >
	Map of names to instances for JointModel. More...

using	JointModelMapConst = std::map< std::string, const JointModel * >
	Map of names to const instances for JointModel. More...

typedef std::function< kinematics::KinematicsBasePtr(const JointModelGroup *)>	SolverAllocatorFn
	Function type that allocates a kinematics solver for a particular group. More...

using	SolverAllocatorMapFn = std::map< const JointModelGroup *, SolverAllocatorFn >
	Map from group instances to allocator functions & bijections. More...

using	JointModelGroupMap = std::map< std::string, JointModelGroup * >
	Map of names to instances for JointModelGroup. More...

using	JointModelGroupMapConst = std::map< std::string, const JointModelGroup * >
	Map of names to const instances for JointModelGroup. More...

using	JointBoundsVector = std::vector< const JointModel::Bounds * >

typedef std::map< std::string, LinkModel * >	LinkModelMap
	Map of names to instances for LinkModel. More...

using	LinkModelMapConst = std::map< std::string, const LinkModel * >
	Map of names to const instances for LinkModel. More...

using	LinkTransformMap = std::map< const LinkModel , Eigen::Isometry3d, std::less< const LinkModel >, Eigen::aligned_allocator< std::pair< const LinkModel *const, Eigen::Isometry3d > > >
	Map from link model instances to Eigen transforms. More...

typedef std::function< void(AttachedBody *body, bool attached)>	AttachedBodyCallback

typedef std::function< bool(RobotState robot_state, const JointModelGroup joint_group, const double *joint_group_variable_values)>	GroupStateValidityCallbackFn
	Signature for functions that can verify that if the group joint_group in robot_state is set to joint_group_variable_values the state is valid or not. Returns true if the state is valid. This call is allowed to modify robot_state (e.g., set joint_group_variable_values) More...

using	FixedTransformsMap = std::map< std::string, Eigen::Isometry3d, std::less< std::string >, Eigen::aligned_allocator< std::pair< const std::string, Eigen::Isometry3d > > >
	Map frame names to the transformation matrix that can transform objects from the frame name to the planning frame. More...

Functions
	MOVEIT_CLASS_FORWARD (JointModelGroup)

	MOVEIT_CLASS_FORWARD (RobotState)

	MOVEIT_CLASS_FORWARD (RobotModel)

std::ostream &	operator<< (std::ostream &out, const VariableBounds &b)
	Operator overload for printing variable bounds to a stream. More...

void	computeTurnDriveTurnGeometry (const double from, const double to, const double min_translational_distance, double &dx, double &dy, double &initial_turn, double &drive_angle, double &final_turn)
	Compute the geometry to turn toward the target point, drive straight and then turn to target orientation. More...

std::optional< int >	hasJointSpaceJump (const std::vector< moveit::core::RobotStatePtr > &waypoints, const moveit::core::JointModelGroup &group, const moveit::core::JumpThreshold &jump_threshold)
	Checks if a joint-space path has a jump larger than the given threshold. More...

bool	jointStateToRobotState (const sensor_msgs::msg::JointState &joint_state, RobotState &state)
	Convert a joint state to a MoveIt robot state. More...

bool	robotStateMsgToRobotState (const Transforms &tf, const moveit_msgs::msg::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
	Convert a robot state msg (with accompanying extra transforms) to a MoveIt robot state. More...

bool	robotStateMsgToRobotState (const moveit_msgs::msg::RobotState &robot_state, RobotState &state, bool copy_attached_bodies=true)
	Convert a robot state msg (with accompanying extra transforms) to a MoveIt robot state. More...

void	robotStateToRobotStateMsg (const RobotState &state, moveit_msgs::msg::RobotState &robot_state, bool copy_attached_bodies=true)
	Convert a MoveIt robot state to a robot state message. More...

void	attachedBodiesToAttachedCollisionObjectMsgs (const std::vector< const AttachedBody * > &attached_bodies, std::vector< moveit_msgs::msg::AttachedCollisionObject > &attached_collision_objs)
	Convert AttachedBodies to AttachedCollisionObjects. More...

void	robotStateToJointStateMsg (const RobotState &state, sensor_msgs::msg::JointState &joint_state)
	Convert a MoveIt robot state to a joint state message. More...

bool	jointTrajPointToRobotState (const trajectory_msgs::msg::JointTrajectory &trajectory, std::size_t point_id, RobotState &state)
	Convert a joint trajectory point to a MoveIt robot state. More...

void	robotStateToStream (const RobotState &state, std::ostream &out, bool include_header=true, const std::string &separator=",")
	Convert a MoveIt robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving. More...

void	robotStateToStream (const RobotState &state, std::ostream &out, const std::vector< std::string > &joint_groups_ordering, bool include_header=true, const std::string &separator=",")
	Convert a MoveIt robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving. This version can order by joint model groups. More...

void	streamToRobotState (RobotState &state, const std::string &line, const std::string &separator=",")
	Convert a string of joint values from a file (CSV) or input source into a RobotState. More...

std::ostream &	operator<< (std::ostream &out, const RobotState &s)
	Operator overload for printing variable bounds to a stream. More...

	MOVEIT_CLASS_FORWARD (Transforms)

std::string	toString (double d)
	Convert a double to std::string using the classic C locale. More...

std::string	toString (float f)
	Convert a float to std::string using the classic C locale. More...

double	toDouble (const std::string &s)
	Converts a std::string to double using the classic C locale. More...

float	toFloat (const std::string &s)
	Converts a std::string to float using the classic C locale. More...

bool	isEmpty (const moveit_msgs::msg::PlanningScene &msg)
	Check if a message includes any information about a planning scene, or whether it is empty. More...

bool	isEmpty (const moveit_msgs::msg::PlanningSceneWorld &msg)
	Check if a message includes any information about a planning scene world, or whether it is empty. More...

bool	isEmpty (const moveit_msgs::msg::RobotState &msg)
	Check if a message includes any information about a robot state, or whether it is empty. More...

bool	isEmpty (const moveit_msgs::msg::Constraints &msg)
	Check if a message specifies constraints. More...

bool	isEmpty (const geometry_msgs::msg::Quaternion &msg)
	Check if the message contains any non-zero entries. More...

bool	isEmpty (const geometry_msgs::msg::Pose &msg)
	Check if the message contains any non-zero entries. More...

std::string	errorCodeToString (const MoveItErrorCode &error_code)
	Convenience function to translated error message into string. More...

moveit::core::RobotModelPtr	loadTestingRobotModel (const std::string &package_name, const std::string &urdf_relative_path, const std::string &srdf_relative_path)
	Loads a robot model given a URDF and SRDF file in a package. More...

moveit::core::RobotModelPtr	loadTestingRobotModel (const std::string &robot_name)
	Loads a robot from moveit_resources. More...

urdf::ModelInterfaceSharedPtr	loadModelInterface (const std::string &robot_name)
	Loads a URDF Model Interface from moveit_resources. More...

srdf::ModelSharedPtr	loadSRDFModel (const std::string &robot_name)
	Loads an SRDF Model from moveit_resources. More...

void	loadIKPluginForGroup (const rclcpp::Node::SharedPtr &node, JointModelGroup *jmg, const std::string &base_link, const std::string &tip_link, std::string plugin="KDL", double timeout=0.1)
	Load an IK solver plugin for the given joint model group. More...

template<class InType >
std::string	toStringImpl (InType t)

template<class OutType >
OutType	toRealImpl (const std::string &s)

Detailed Description

Core components of MoveIt.

Typedef Documentation

◆ AttachedBodyCallback

typedef std::function<void(AttachedBody* body, bool attached)> moveit::core::AttachedBodyCallback

Definition at line 52 of file attached_body.h.

◆ FixedTransformsMap

using moveit::core::FixedTransformsMap = typedef std::map<std::string, Eigen::Isometry3d, std::less<std::string>, Eigen::aligned_allocator<std::pair<const std::string, Eigen::Isometry3d> > >

Map frame names to the transformation matrix that can transform objects from the frame name to the planning frame.

Definition at line 52 of file transforms.h.

◆ GroupStateValidityCallbackFn

typedef std::function<bool(RobotState* robot_state, const JointModelGroup* joint_group, const double* joint_group_variable_values)> moveit::core::GroupStateValidityCallbackFn

Signature for functions that can verify that if the group joint_group in robot_state is set to joint_group_variable_values the state is valid or not. Returns true if the state is valid. This call is allowed to modify robot_state (e.g., set joint_group_variable_values)

Definition at line 70 of file robot_state.h.

◆ JointBoundsVector

using moveit::core::JointBoundsVector = typedef std::vector<const JointModel::Bounds*>

Definition at line 67 of file joint_model_group.h.

◆ JointModelGroupMap

using moveit::core::JointModelGroupMap = typedef std::map<std::string, JointModelGroup*>

Map of names to instances for JointModelGroup.

Definition at line 62 of file joint_model_group.h.

◆ JointModelGroupMapConst

using moveit::core::JointModelGroupMapConst = typedef std::map<std::string, const JointModelGroup*>

Map of names to const instances for JointModelGroup.

Definition at line 65 of file joint_model_group.h.

◆ JointModelMap

using moveit::core::JointModelMap = typedef std::map<std::string, JointModel*>

Map of names to instances for JointModel.

Definition at line 99 of file joint_model.h.

◆ JointModelMapConst

using moveit::core::JointModelMapConst = typedef std::map<std::string, const JointModel*>

Map of names to const instances for JointModel.

Definition at line 102 of file joint_model.h.

◆ LinkModelMap

typedef std::map<std::string, LinkModel*> moveit::core::LinkModelMap

Map of names to instances for LinkModel.

Definition at line 61 of file link_model.h.

◆ LinkModelMapConst

using moveit::core::LinkModelMapConst = typedef std::map<std::string, const LinkModel*>

Map of names to const instances for LinkModel.

Definition at line 64 of file link_model.h.

◆ LinkTransformMap

using moveit::core::LinkTransformMap = typedef std::map<const LinkModel*, Eigen::Isometry3d, std::less<const LinkModel*>, Eigen::aligned_allocator<std::pair<const LinkModel* const, Eigen::Isometry3d> > >

Map from link model instances to Eigen transforms.

Definition at line 67 of file link_model.h.

◆ SolverAllocatorFn

typedef std::function<kinematics::KinematicsBasePtr(const JointModelGroup*)> moveit::core::SolverAllocatorFn

Function type that allocates a kinematics solver for a particular group.

Definition at line 56 of file joint_model_group.h.

◆ SolverAllocatorMapFn

using moveit::core::SolverAllocatorMapFn = typedef std::map<const JointModelGroup*, SolverAllocatorFn>

Map from group instances to allocator functions & bijections.

Definition at line 59 of file joint_model_group.h.

◆ VariableBoundsMap

using moveit::core::VariableBoundsMap = typedef std::map<std::string, VariableBounds>

Data type for holding mappings from variable names to their bounds.

Definition at line 96 of file joint_model.h.

◆ VariableIndexMap

typedef std::map<std::string, size_t> moveit::core::VariableIndexMap

Data type for holding mappings from variable names to their position in a state vector.

Definition at line 93 of file joint_model.h.

Function Documentation

◆ attachedBodiesToAttachedCollisionObjectMsgs()

void moveit::core::attachedBodiesToAttachedCollisionObjectMsgs	(	const std::vector< const AttachedBody * > &	attached_bodies,
		std::vector< moveit_msgs::msg::AttachedCollisionObject > &	attached_collision_objs
	)

Convert AttachedBodies to AttachedCollisionObjects.

Parameters

attached_bodies	The input MoveIt attached body objects
attached_collision_objs	The resultant AttachedCollisionObject messages

Definition at line 444 of file conversions.cpp.

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◆ computeTurnDriveTurnGeometry()

void moveit::core::computeTurnDriveTurnGeometry	(	const double *	from,
		const double *	to,
		const double	min_translational_distance,
		double &	dx,
		double &	dy,
		double &	initial_turn,
		double &	drive_angle,
		double &	final_turn
	)

Compute the geometry to turn toward the target point, drive straight and then turn to target orientation.

Parameters

[in]	from	A vector representing the initial position [x0, y0, theta0]
[in]	to	A vector representing the target position [x1, y1, theta1]
[in]	min_translational_distance	If the translational distance between `from` and `to` is less than this value the motion will be pure rotation (meters)
[out]	dx	x1 - x0 (meters)
[out]	dy	y1 - y0 (meters)
[out]	initial_turn	The initial turn in radians to face the target
[out]	drive_angle	The orientation in radians that the robot will be driving straight at
[out]	final_turn	The final turn in radians to the target orientation

Definition at line 166 of file planar_joint_model.cpp.

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◆ errorCodeToString()

std::string moveit::core::errorCodeToString ( const MoveItErrorCode & error_code )

inline

Convenience function to translated error message into string.

Parameters

error_code Error code to be translated to a string

Returns: Error code string

Definition at line 82 of file moveit_error_code.h.

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◆ hasJointSpaceJump()

std::optional< int > moveit::core::hasJointSpaceJump	(	const std::vector< moveit::core::RobotStatePtr > &	waypoints,
		const moveit::core::JointModelGroup &	group,
		const moveit::core::JumpThreshold &	jump_threshold
	)

Checks if a joint-space path has a jump larger than the given threshold.

This function computes the distance between every pair of adjacent waypoints (for the given group) and checks if that distance is larger than the threshold defined by jump_threshold. If so, it is considered that the path has a jump, and the path index where the jump happens is returned as output. Otherwise the function returns a nullopt.

Definition at line 531 of file cartesian_interpolator.cpp.

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◆ isEmpty() [1/6]

bool moveit::core::isEmpty ( const geometry_msgs::msg::Pose & msg )

Check if the message contains any non-zero entries.

Definition at line 77 of file message_checks.cpp.

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◆ isEmpty() [2/6]

bool moveit::core::isEmpty ( const geometry_msgs::msg::Quaternion & msg )

Check if the message contains any non-zero entries.

Definition at line 72 of file message_checks.cpp.

◆ isEmpty() [3/6]

bool moveit::core::isEmpty ( const moveit_msgs::msg::Constraints & msg )

Check if a message specifies constraints.

Definition at line 66 of file message_checks.cpp.

◆ isEmpty() [4/6]

bool moveit::core::isEmpty ( const moveit_msgs::msg::PlanningScene & msg )

Check if a message includes any information about a planning scene, or whether it is empty.

Definition at line 43 of file message_checks.cpp.

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◆ isEmpty() [5/6]

bool moveit::core::isEmpty ( const moveit_msgs::msg::PlanningSceneWorld & msg )

Check if a message includes any information about a planning scene world, or whether it is empty.

Definition at line 49 of file message_checks.cpp.

◆ isEmpty() [6/6]

bool moveit::core::isEmpty ( const moveit_msgs::msg::RobotState & msg )

Check if a message includes any information about a robot state, or whether it is empty.

Definition at line 54 of file message_checks.cpp.

◆ jointStateToRobotState()

bool moveit::core::jointStateToRobotState	(	const sensor_msgs::msg::JointState &	joint_state,
		RobotState &	state
	)

Convert a joint state to a MoveIt robot state.

Parameters

joint_state	The input joint state to be converted
state	The resultant MoveIt robot state

Returns: True if successful, false if failed for any reason

Definition at line 406 of file conversions.cpp.

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◆ jointTrajPointToRobotState()

bool moveit::core::jointTrajPointToRobotState	(	const trajectory_msgs::msg::JointTrajectory &	trajectory,
		std::size_t	point_id,
		RobotState &	state
	)

Convert a joint trajectory point to a MoveIt robot state.

Parameters

joint_trajectory	The input msg
point_id	The index of the trajectory point in the joint trajectory.
state	The resultant MoveIt robot state

Returns: True if successful, false if failed for any reason

Definition at line 473 of file conversions.cpp.

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◆ loadIKPluginForGroup()

void moveit::core::loadIKPluginForGroup	(	const rclcpp::Node::SharedPtr &	node,
		JointModelGroup *	jmg,
		const std::string &	base_link,
		const std::string &	tip_link,
		std::string	plugin = `"KDL"`,
		double	timeout = `0.1`
	)

Load an IK solver plugin for the given joint model group.

Parameters

[in]	jmg	joint model group to load the plugin for
[in]	base_link	base link of chain
[in]	tip_link	tip link of chain
[in]	plugin	name of the plugin ("KDL", or full name)
[in]	timeout	default solver timeout

Definition at line 139 of file robot_model_test_utils.cpp.

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◆ loadModelInterface()

urdf::ModelInterfaceSharedPtr moveit::core::loadModelInterface ( const std::string & robot_name )

Loads a URDF Model Interface from moveit_resources.

Parameters

[in] robot_name The name of the robot in moveit_resources to load. This should be the prefix to many of the robot packages. For example, "pr2", "panda", or "fanuc".

Returns: a ModelInterface constructed from robot_name's URDF.

Definition at line 95 of file robot_model_test_utils.cpp.

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◆ loadSRDFModel()

srdf::ModelSharedPtr moveit::core::loadSRDFModel ( const std::string & robot_name )

Loads an SRDF Model from moveit_resources.

Parameters

[in] robot_name The name of the robot in moveit_resources to load. This should be the prefix to many of the robot packages. For example, "pr2", "panda", or "fanuc".

Returns: an SRDF Model constructed from robot_name's URDF and SRDF.

Definition at line 118 of file robot_model_test_utils.cpp.

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◆ loadTestingRobotModel() [1/2]

moveit::core::RobotModelPtr moveit::core::loadTestingRobotModel	(	const std::string &	package_name,
		const std::string &	urdf_relative_path,
		const std::string &	srdf_relative_path
	)

Loads a robot model given a URDF and SRDF file in a package.

Parameters

[in]	package_name	The name of the package containing the URDF and SRDF files.
[in]	urdf_relative_path	The relative path to the URDF file in the package installed directory.
[in]	srdf_relative_path	The relative path to the SRDF file in the package installed directory.

Returns: a RobotModel constructed from the URDF and SRDF files, or nullptr if the files could not be loaded.

Definition at line 63 of file robot_model_test_utils.cpp.

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◆ loadTestingRobotModel() [2/2]

moveit::core::RobotModelPtr moveit::core::loadTestingRobotModel ( const std::string & robot_name )

Loads a robot from moveit_resources.

Parameters

[in] robot_name The name of the robot in moveit_resources to load. This should be the prefix to many of the robot packages. For example, "pr2", "panda", or "fanuc".

Returns: a RobotModel constructed from robot_name's URDF and SRDF.

Definition at line 87 of file robot_model_test_utils.cpp.

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◆ MOVEIT_CLASS_FORWARD() [1/4]

moveit::core::MOVEIT_CLASS_FORWARD ( JointModelGroup )

◆ MOVEIT_CLASS_FORWARD() [2/4]

moveit::core::MOVEIT_CLASS_FORWARD ( RobotModel )

◆ MOVEIT_CLASS_FORWARD() [3/4]

moveit::core::MOVEIT_CLASS_FORWARD ( RobotState )

◆ MOVEIT_CLASS_FORWARD() [4/4]

moveit::core::MOVEIT_CLASS_FORWARD ( Transforms )

◆ operator<<() [1/2]

std::ostream & moveit::core::operator<<	(	std::ostream &	out,
		const RobotState &	s
	)

Operator overload for printing variable bounds to a stream.

Definition at line 2465 of file robot_state.cpp.

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◆ operator<<() [2/2]

std::ostream & moveit::core::operator<<	(	std::ostream &	out,
		const VariableBounds &	b
	)

Operator overload for printing variable bounds to a stream.

Definition at line 291 of file joint_model.cpp.

◆ robotStateMsgToRobotState() [1/2]

bool moveit::core::robotStateMsgToRobotState	(	const moveit_msgs::msg::RobotState &	robot_state,
		RobotState &	state,
		bool	copy_attached_bodies = `true`
	)

Convert a robot state msg (with accompanying extra transforms) to a MoveIt robot state.

Parameters

robot_state	The input robot state msg
state	The resultant MoveIt robot state
copy_attached_bodies	Flag to include attached objects in robot state copy

Returns: True if successful, false if failed for any reason

Definition at line 413 of file conversions.cpp.

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◆ robotStateMsgToRobotState() [2/2]

bool moveit::core::robotStateMsgToRobotState	(	const Transforms &	tf,
		const moveit_msgs::msg::RobotState &	robot_state,
		RobotState &	state,
		bool	copy_attached_bodies = `true`
	)

Convert a robot state msg (with accompanying extra transforms) to a MoveIt robot state.

Parameters

tf	An instance of a transforms object
robot_state	The input robot state msg
state	The resultant MoveIt robot state
copy_attached_bodies	Flag to include attached objects in robot state copy

Returns: True if successful, false if failed for any reason

Definition at line 421 of file conversions.cpp.

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◆ robotStateToJointStateMsg()

void moveit::core::robotStateToJointStateMsg	(	const RobotState &	state,
		sensor_msgs::msg::JointState &	joint_state
	)

Convert a MoveIt robot state to a joint state message.

Parameters

state	The input MoveIt robot state object
robot_state	The resultant JointState message

Definition at line 453 of file conversions.cpp.

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◆ robotStateToRobotStateMsg()

void moveit::core::robotStateToRobotStateMsg	(	const RobotState &	state,
		moveit_msgs::msg::RobotState &	robot_state,
		bool	copy_attached_bodies = `true`
	)

Convert a MoveIt robot state to a robot state message.

Parameters

state	The input MoveIt robot state object
robot_state	The resultant RobotState *message
copy_attached_bodies	Flag to include attached objects in robot state copy

Definition at line 429 of file conversions.cpp.

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◆ robotStateToStream() [1/2]

void moveit::core::robotStateToStream	(	const RobotState &	state,
		std::ostream &	out,
		bool	include_header = `true`,
		const std::string &	separator = `","`
	)

Convert a MoveIt robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving.

Parameters

state	- The input MoveIt robot state object
out	- a file stream, or any other stream
include_header	- flag to prefix the output with a line of joint names.
separator	- allows to override the comma separator with any symbol, such as a white space

Definition at line 498 of file conversions.cpp.

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◆ robotStateToStream() [2/2]

void moveit::core::robotStateToStream	(	const RobotState &	state,
		std::ostream &	out,
		const std::vector< std::string > &	joint_groups_ordering,
		bool	include_header = `true`,
		const std::string &	separator = `","`
	)

Convert a MoveIt robot state to common separated values (CSV) on a single line that is outputted to a stream e.g. for file saving. This version can order by joint model groups.

Parameters

state	- The input MoveIt robot state object
out	- a file stream, or any other stream
joint_group_ordering	- output joints based on ordering of joint groups
include_header	- flag to prefix the output with a line of joint names.
separator	- allows to override the comma separator with any symbol, such as a white space

Definition at line 526 of file conversions.cpp.

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◆ streamToRobotState()

void moveit::core::streamToRobotState	(	RobotState &	state,
		const std::string &	line,
		const std::string &	separator = `","`
	)

Convert a string of joint values from a file (CSV) or input source into a RobotState.

Parameters

state	- the output MoveIt robot state object
line	- the input string of joint values
separator	- allows to override the comma separator with any symbol, such as a white space

Returns: true on success

Definition at line 563 of file conversions.cpp.

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◆ toDouble()

double moveit::core::toDouble ( const std::string & s )

Converts a std::string to double using the classic C locale.

Exceptions

std::runtime_exception if not a valid number

Definition at line 80 of file lexical_casts.cpp.

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◆ toFloat()

float moveit::core::toFloat ( const std::string & s )

Converts a std::string to float using the classic C locale.

Exceptions

std::runtime_exception if not a valid number

Definition at line 85 of file lexical_casts.cpp.

◆ toRealImpl()

template<class OutType >

OutType moveit::core::toRealImpl ( const std::string & s )

Definition at line 66 of file lexical_casts.cpp.

◆ toString() [1/2]

std::string moveit::core::toString ( double d )

Convert a double to std::string using the classic C locale.

Definition at line 55 of file lexical_casts.cpp.

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◆ toString() [2/2]

std::string moveit::core::toString ( float f )

Convert a float to std::string using the classic C locale.

Definition at line 60 of file lexical_casts.cpp.

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◆ toStringImpl()

template<class InType >

std::string moveit::core::toStringImpl ( InType t )

Definition at line 46 of file lexical_casts.cpp.

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Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ AttachedBodyCallback

◆ FixedTransformsMap

◆ GroupStateValidityCallbackFn

◆ JointBoundsVector

◆ JointModelGroupMap

◆ JointModelGroupMapConst

◆ JointModelMap

◆ JointModelMapConst

◆ LinkModelMap

◆ LinkModelMapConst

◆ LinkTransformMap

◆ SolverAllocatorFn

◆ SolverAllocatorMapFn

◆ VariableBoundsMap

◆ VariableIndexMap

Function Documentation

◆ attachedBodiesToAttachedCollisionObjectMsgs()

◆ computeTurnDriveTurnGeometry()

◆ errorCodeToString()

◆ hasJointSpaceJump()

◆ isEmpty() [1/6]

◆ isEmpty() [2/6]

◆ isEmpty() [3/6]

◆ isEmpty() [4/6]

◆ isEmpty() [5/6]

◆ isEmpty() [6/6]

◆ jointStateToRobotState()

◆ jointTrajPointToRobotState()

◆ loadIKPluginForGroup()

◆ loadModelInterface()

◆ loadSRDFModel()

◆ loadTestingRobotModel() [1/2]

◆ loadTestingRobotModel() [2/2]

◆ MOVEIT_CLASS_FORWARD() [1/4]

◆ MOVEIT_CLASS_FORWARD() [2/4]

◆ MOVEIT_CLASS_FORWARD() [3/4]

◆ MOVEIT_CLASS_FORWARD() [4/4]

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ robotStateMsgToRobotState() [1/2]

◆ robotStateMsgToRobotState() [2/2]

◆ robotStateToJointStateMsg()

◆ robotStateToRobotStateMsg()

◆ robotStateToStream() [1/2]

◆ robotStateToStream() [2/2]

◆ streamToRobotState()

◆ toDouble()

◆ toFloat()

◆ toRealImpl()

◆ toString() [1/2]

◆ toString() [2/2]

◆ toStringImpl()