#include <modify_planning_scene.h>
Inheritance diagram for moveit::task_constructor::stages::ModifyPlanningScene:
Collaboration diagram for moveit::task_constructor::stages::ModifyPlanningScene:
Classes | |
| struct | CollisionMatrixPairs |
Public Types | |
| using | Names = std::vector< std::string > |
| using | ApplyCallback = std::function< void(const planning_scene::PlanningScenePtr &, const PropertyMap &)> |
 Public Types inherited from moveit::task_constructor::PropagatingEitherWay | |
| enum | Direction { AUTO = 0x00, FORWARD = 0x01, BACKWARD = 0x02 } |
| Public Types inherited from moveit::task_constructor::Stage | |
| enum | PropertyInitializerSource { DEFAULT = 0, MANUAL = 1, PARENT = 2, INTERFACE = 4 } |
| using | pointer = std::unique_ptr< Stage > |
| using | SolutionCallback = std::function< void(const SolutionBase &)> |
| using | SolutionCallbackList = std::list< SolutionCallback > |
Public Member Functions | |
| ModifyPlanningScene (const std::string &name="modify planning scene") | |
| void | computeForward (const InterfaceState &from) override |
| void | computeBackward (const InterfaceState &to) override |
| void | setCallback (const ApplyCallback &cb) |
| call an arbitrary function | |
| void | attachObjects (const Names &objects, const std::string &attach_link, bool attach) |
| attach or detach a list of objects to the given link | |
| void | addObject (const moveit_msgs::CollisionObject &collision_object) |
| Add an object to the planning scene. | |
| void | removeObject (const std::string &object_name) |
| Remove an object from the planning scene. | |
| void | moveObject (const moveit_msgs::CollisionObject &collision_object) |
| Move an object from the planning scene. | |
| void | attachObject (const std::string &object, const std::string &link) |
| conviency methods accepting a single object name | |
| void | detachObject (const std::string &object, const std::string &link) |
| template<typename T , typename E = typename std::enable_if_t< is_container<T>::value && std::is_base_of<std::string, typename T::value_type>::value>> | |
| void | attachObjects (const T &objects, const std::string &link) |
| conviency methods accepting any container of object names | |
| template<typename T , typename E = typename std::enable_if_t< is_container<T>::value && std::is_base_of<std::string, typename T::value_type>::value>> | |
| void | detachObjects (const T &objects, const std::string &link) |
| void | allowCollisions (const Names &first, const Names &second, bool allow) |
| allow / forbid collisions for each combination of pairs in first and second lists | |
| void | allowCollisions (const std::string &first, const std::string &second, bool allow) |
| allow / forbid collisions for pair (first, second) | |
| void | allowCollisions (const std::string &object, bool allow) |
| allow / forbid all collisions for given object | |
| template<typename T1 , typename T2 , typename E1 = typename std::enable_if_t<is_container<T1>::value && std::is_convertible<typename T1::value_type, std::string>::value>, typename E2 = typename std::enable_if_t<is_container<T2>::value && std::is_convertible<typename T1::value_type, std::string>::value>> | |
| void | allowCollisions (const T1 &first, const T2 &second, bool enable_collision) |
| conveniency method accepting arbitrary container types | |
| template<typename T , typename E = typename std::enable_if_t< is_container<T>::value && std::is_convertible<typename T::value_type, std::string>::value>> | |
| void | allowCollisions (const std::string &first, const T &second, bool enable_collision) |
| conveniency method accepting std::string and an arbitrary container of names | |
| template<typename T , typename E = typename std::enable_if_t< is_container<T>::value && std::is_convertible<typename T::value_type, std::string>::value>> | |
| void | allowCollisions (const char *first, const T &second, bool enable_collision) |
| conveniency method accepting const char* and an arbitrary container of names | |
| void | allowCollisions (const std::string &first, const moveit::core::JointModelGroup &jmg, bool allow) |
| conveniency method accepting std::string and JointModelGroup | |
| Public Member Functions inherited from moveit::task_constructor::PropagatingEitherWay | |
| PropagatingEitherWay (const std::string &name="propagating either way") | |
| void | restrictDirection (Direction dir) |
| Public Member Functions inherited from moveit::task_constructor::Stage | |
| virtual void | reset () |
| reset stage, clearing all solutions, interfaces, inherited properties. | |
| virtual void | init (const moveit::core::RobotModelConstPtr &robot_model) |
| const ContainerBase * | parent () const |
| const std::string & | name () const |
| void | setName (const std::string &name) |
| uint32_t | introspectionId () const |
| Introspection * | introspection () const |
| void | setTimeout (double timeout) |
| double | timeout () const |
| timeout of stage per computation | |
| void | setMarkerNS (const std::string &marker_ns) |
| const std::string & | markerNS () |
| marker namespace of solution markers | |
| void | setTrajectoryExecutionInfo (TrajectoryExecutionInfo trajectory_execution_info) |
| Set and get info to use when executing the stage's trajectory. | |
| TrajectoryExecutionInfo | trajectoryExecutionInfo () const |
| void | forwardProperties (const InterfaceState &source, InterfaceState &dest) |
| forwarding of properties between interface states | |
| std::set< std::string > | forwardedProperties () const |
| void | setForwardedProperties (const std::set< std::string > &names) |
| SolutionCallbackList::const_iterator | addSolutionCallback (SolutionCallback &&cb) |
| add function to be called for every newly found solution or failure | |
| void | removeSolutionCallback (SolutionCallbackList::const_iterator which) |
| remove function callback | |
| void | setCostTerm (const CostTermConstPtr &term) |
| template<typename T , typename = std::enable_if_t<std::is_constructible<LambdaCostTerm, T>::value>> | |
| void | setCostTerm (T term) |
| const ordered< SolutionBaseConstPtr > & | solutions () const |
| const std::list< SolutionBaseConstPtr > & | failures () const |
| size_t | numFailures () const |
| void | silentFailure () |
| Call to increase number of failures w/o storing a (failure) trajectory. | |
| bool | storeFailures () const |
| Should we generate failure solutions? Note: Always report a failure! | |
| virtual void | explainFailure (std::ostream &os) const |
| PropertyMap & | properties () |
| Get the stage's property map. | |
| const PropertyMap & | properties () const |
| void | setProperty (const std::string &name, const boost::any &value) |
| Set a previously declared property to a new value. | |
| void | setProperty (const std::string &name, const char *value) |
| overload: const char* values are stored as std::string | |
| void | reportPropertyError (const Property::error &e) |
| Analyze source of error and report accordingly. | |
| double | getTotalComputeTime () const |
Protected Member Functions | |
| std::pair< InterfaceState, SubTrajectory > | apply (const InterfaceState &from, bool invert) |
| void | processCollisionObject (planning_scene::PlanningScene &scene, const moveit_msgs::CollisionObject &object, bool invert) |
| void | attachObjects (planning_scene::PlanningScene &scene, const std::pair< std::string, std::pair< Names, bool >> &pair, bool invert) |
| void | allowCollisions (planning_scene::PlanningScene &scene, const CollisionMatrixPairs &pairs, bool invert) |
| Protected Member Functions inherited from moveit::task_constructor::PropagatingEitherWay | |
| PropagatingEitherWay (PropagatingEitherWayPrivate *impl) | |
| template<Interface::Direction dir> | |
| void | send (const InterfaceState &start, InterfaceState &&end, SubTrajectory &&trajectory) |
| void | sendForward (const InterfaceState &from, InterfaceState &&to, SubTrajectory &&trajectory) |
| void | sendBackward (InterfaceState &&from, const InterfaceState &to, SubTrajectory &&trajectory) |
| Protected Member Functions inherited from moveit::task_constructor::ComputeBase | |
| ComputeBase (ComputeBasePrivate *impl) | |
| ComputeBase can only be instantiated by derived classes in stage.cpp. | |
| Protected Member Functions inherited from moveit::task_constructor::Stage | |
| Stage (StagePrivate *impl) | |
| Stage can only be instantiated through derived classes. | |
| Stage (const Stage &)=delete | |
| Stage cannot be copied. | |
Protected Attributes | |
| std::map< std::string, std::pair< Names, bool > > | attach_objects_ |
| std::vector< moveit_msgs::CollisionObject > | collision_objects_ |
| std::list< CollisionMatrixPairs > | collision_matrix_edits_ |
| ApplyCallback | callback_ |
| Protected Attributes inherited from moveit::task_constructor::Stage | |
| StagePrivate * | pimpl_ |
Detailed Description
Allow modification of planning scene
This stage takes the incoming planning scene and applies previously scheduled changes to it, for example:
- Modify allowed collision matrix, enabling or disabling collision pairs.
- Attach or detach objects to robot links.
- Spawn or remove objects.
The documentation for this class was generated from the following files:
- /__w/moveit_task_constructor/moveit_task_constructor/core/include/moveit/task_constructor/stages/modify_planning_scene.h
- /__w/moveit_task_constructor/moveit_task_constructor/core/src/stages/modify_planning_scene.cpp
