cl_moveit2z Namespace Reference

Classes
class	CbAttachObject
	Client behavior that attaches a collision object to the robot gripper. More...
class	CbCircularPivotMotion
class	CbCircularPouringMotion
class	CbDetachObject
	Client behavior that detaches the currently attached collision object. More...
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	ClMoveit2z
class	CpGraspingComponent
class	CpJointSpaceTrajectoryPlanner
	Component for joint space trajectory generation from Cartesian waypoints. More...
class	CpMotionPlanner
	Component for centralized motion planning operations. More...
class	CpTFListener
class	CpTfListener
	Component for shared TF2 transform management across all behaviors. More...
class	CpTrajectoryExecutor
	Component for centralized trajectory execution. More...
class	CpTrajectoryHistory
class	CpTrajectoryVisualizer
	Component for visualizing trajectories as RViz markers. More...
struct	EvIncorrectInitialPosition
struct	EvJointDiscontinuity
struct	EvMoveGroupMotionExecutionFailed
struct	EvMoveGroupMotionExecutionSucceded
struct	ExecutionOptions
	Configuration options for trajectory execution. More...
struct	ExecutionResult
	Result of a trajectory execution operation. More...
struct	JointTrajectoryOptions
	Configuration options for joint space trajectory planning. More...
struct	JointTrajectoryResult
	Result of a joint space trajectory planning operation. More...
struct	PlanningOptions
	Configuration options for motion planning. More...
struct	PlanningResult
	Result of a planning operation. More...
struct	TfPoseTrack
struct	TrajectoryHistoryEntry

Enumerations
enum class	ComputeJointTrajectoryErrorCode {   SUCCESS , INCORRECT_INITIAL_STATE , JOINT_TRAJECTORY_DISCONTINUITY , SUCCESS ,   INCORRECT_INITIAL_STATE , JOINT_TRAJECTORY_DISCONTINUITY }
enum class	JointTrajectoryErrorCode {   SUCCESS , INCORRECT_INITIAL_STATE , JOINT_TRAJECTORY_DISCONTINUITY , IK_SOLUTION_FAILED ,   EMPTY_WAYPOINT_LIST }
	Error codes for joint space trajectory computation. More...
enum class	ComputeJointTrajectoryErrorCode {   SUCCESS , INCORRECT_INITIAL_STATE , JOINT_TRAJECTORY_DISCONTINUITY , SUCCESS ,   INCORRECT_INITIAL_STATE , JOINT_TRAJECTORY_DISCONTINUITY }

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

Enumeration Type Documentation

ComputeJointTrajectoryErrorCode [1/2]

enum class cl_moveit2z::ComputeJointTrajectoryErrorCode

strong

Enumerator
SUCCESS
INCORRECT_INITIAL_STATE
JOINT_TRAJECTORY_DISCONTINUITY
SUCCESS
INCORRECT_INITIAL_STATE
JOINT_TRAJECTORY_DISCONTINUITY

Definition at line 52 of file cb_move_end_effector_trajectory.hpp.

{
  SUCCESS,
  INCORRECT_INITIAL_STATE,
  JOINT_TRAJECTORY_DISCONTINUITY
};

ComputeJointTrajectoryErrorCode [2/2]

enum class cl_moveit2z::ComputeJointTrajectoryErrorCode

strong

Enumerator
SUCCESS
INCORRECT_INITIAL_STATE
JOINT_TRAJECTORY_DISCONTINUITY
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
};

JointTrajectoryErrorCode

enum class cl_moveit2z::JointTrajectoryErrorCode

strong

Error codes for joint space trajectory computation.

Enumerator
SUCCESS
INCORRECT_INITIAL_STATE
JOINT_TRAJECTORY_DISCONTINUITY
IK_SOLUTION_FAILED
EMPTY_WAYPOINT_LIST

Definition at line 43 of file cp_joint_space_trajectory_planner.hpp.

{
  SUCCESS,
  INCORRECT_INITIAL_STATE,
  JOINT_TRAJECTORY_DISCONTINUITY,
  IK_SOLUTION_FAILED,
  EMPTY_WAYPOINT_LIST
};

Function Documentation

currentJointStatesToString()

std::string cl_moveit2z::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();
}

References currentJointStatesToString().

Referenced by currentJointStatesToString().

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