rapid::MoveItPlanningScene Class Reference

Simple interface to the MoveIt planning scene monitor. More...

#include <moveit_planning_scene.h>

Public Member Functions
	MoveItPlanningScene ()
	Default constructor, planning scene topic is "/planning_scene". More...
	MoveItPlanningScene (const std::string &topic)
	Constructor that takes in a planning scene topic. More...
void	AddBoxObstacle (const std::string &name, const geometry_msgs::PoseStamped &pose_stamped, const geometry_msgs::Vector3 &dims)
	Adds a box-shaped obstacle to the planning scene. More...
void	RemoveObstacle (const std::string &name)
	Removes an obstacle from the planning scene. More...

Detailed Description

Simple interface to the MoveIt planning scene monitor.

Example usage:

#include "rapid_manipulation/moveit_planning_scene.h"
rapid::MoveItPlanningScene planning_scene;
planning_scene.AddBoxObstacle("table", pose_stamped, dims);
...
planning_scene.RemoveObstacle("table");

Definition at line 21 of file moveit_planning_scene.h.

Constructor & Destructor Documentation

rapid::MoveItPlanningScene::MoveItPlanningScene

(

)

Default constructor, planning scene topic is "/planning_scene".

rapid::MoveItPlanningScene::MoveItPlanningScene ( const std::string &  topic )

explicit

Constructor that takes in a planning scene topic.

Parameters

[in]

topic

The planning scene topic to publish to.

Member Function Documentation

void rapid::MoveItPlanningScene::AddBoxObstacle	(	const std::string &	name,
		const geometry_msgs::PoseStamped &	pose_stamped,
		const geometry_msgs::Vector3 &	dims
	)

Adds a box-shaped obstacle to the planning scene.

Adding an obstacle with the same name as an existing obstacle will replace it.

Parameters

[in]	name	The name of the obstacle.
[in]	pose_stamped	The pose of the box. Origin is at the center of the box.
[in]	dims	The dimensions of the box.

void rapid::MoveItPlanningScene::RemoveObstacle

(

const std::string &

name

)

Removes an obstacle from the planning scene.

Parameters

[in]

name

The name of the obstacle to remove.

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

• rapid_manipulation/include/rapid_manipulation/moveit_planning_scene.h