cl_move_group_interface Namespace Reference

Classes
class	CbAttachObject
class	CbCircularPivotMotion
class	CbCircularPouringMotion
class	CbDetachObject
class	CbEndEffectorRotate
class	CbExecuteLastTrajectory
class	CbMoveCartesianRelative
class	CbMoveCartesianRelative2
class	CbMoveEndEffector
class	CbMoveEndEffectorRelative
class	CbMoveEndEffectorTrajectory
class	CbMoveJoints
class	CbMoveKnownState
class	CbMoveLastTrajectoryInitialState
class	CbMoveNamedTarget
class	CbUndoLastTrajectory
class	ClMoveGroup
class	CpGraspingComponent
class	CpTrajectoryHistory
struct	EvIncorrectInitialPosition
struct	EvJointDiscontinuity
struct	EvMoveGroupMotionExecutionFailed
struct	EvMoveGroupMotionExecutionSucceded
struct	TrajectoryHistoryEntry

Enumerations
enum class	ComputeJointTrajectoryErrorCode { SUCCESS , INCORRECT_INITIAL_STATE , JOINT_TRAJECTORY_DISCONTINUITY }

Functions
std::string	currentJointStatesToString (moveit::planning_interface::MoveGroupInterface &moveGroupInterface, std::map< std::string, double > &targetJoints)
geometry_msgs::msg::Point &	toMsg (const tf2::Vector3 &in, geometry_msgs::msg::Point &out)
void	toMsg (const tf2::Transform &in, geometry_msgs::msg::Pose &out)
void	fromMsg (const geometry_msgs::msg::Point &in, tf2::Vector3 &out)

Enumeration Type Documentation

ComputeJointTrajectoryErrorCode

enum class cl_move_group_interface::ComputeJointTrajectoryErrorCode

strong

Enumerator
SUCCESS
INCORRECT_INITIAL_STATE
JOINT_TRAJECTORY_DISCONTINUITY

Definition at line 43 of file cb_move_end_effector_trajectory.hpp.

{
  SUCCESS,
  INCORRECT_INITIAL_STATE,
  JOINT_TRAJECTORY_DISCONTINUITY
};

Function Documentation

currentJointStatesToString()

std::string cl_move_group_interface::currentJointStatesToString	(	moveit::planning_interface::MoveGroupInterface &	moveGroupInterface,
		std::map< std::string, double > &	targetJoints
	)

Definition at line 49 of file cb_move_joints.cpp.

{
  auto state = moveGroupInterface.getCurrentState();
 
  if (state == nullptr) return std::string();
 
  auto vnames = state->getVariableNames();
 
  std::stringstream ss;
 
  for (auto & tgj : targetJoints)
  {
    auto it = std::find(vnames.begin(), vnames.end(), tgj.first);
    auto index = std::distance(vnames.begin(), it);
 
    ss << tgj.first << ":" << state->getVariablePosition(index) << std::endl;
  }
 
  return ss.str();
}

Referenced by cl_move_group_interface::CbMoveJoints::moveJoints().

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fromMsg()

void cl_move_group_interface::fromMsg	(	const geometry_msgs::msg::Point &	in,
		tf2::Vector3 &	out
	)

Definition at line 56 of file cb_pouring_motion.cpp.

{
  out = tf2::Vector3(in.x, in.y, in.z);
}

Referenced by cl_move_group_interface::CbCircularPouringMotion::createMarkers(), and cl_move_group_interface::CbCircularPouringMotion::generateTrajectory().

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toMsg() [1/2]

void cl_move_group_interface::toMsg	(	const tf2::Transform &	in,
		geometry_msgs::msg::Pose &	out
	)

Definition at line 48 of file cb_pouring_motion.cpp.

{
  out.position.x = in.getOrigin().getX();
  out.position.y = in.getOrigin().getY();
  out.position.z = in.getOrigin().getZ();
  out.orientation = toMsg(in.getRotation());
}

References toMsg().

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toMsg() [2/2]

geometry_msgs::msg::Point & cl_move_group_interface::toMsg	(	const tf2::Vector3 &	in,
		geometry_msgs::msg::Point &	out
	)

Definition at line 40 of file cb_pouring_motion.cpp.

{
  out.x = in.getX();
  out.y = in.getY();
  out.z = in.getZ();
  return out;
}

Referenced by cl_move_group_interface::CbCircularPouringMotion::createMarkers(), and toMsg().

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