moveit_tools.hpp File Reference

#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/task_constructor/container.h>
#include <moveit/task_constructor/stage.h>
#include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/trajectory_execution_info.h>
#include <tf2/LinearMath/Matrix3x3.h>
#include <tf2/LinearMath/Quaternion.h>
#include <boost/tokenizer.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <moveit_msgs/msg/robot_state.hpp>
#include <moveit_msgs/msg/visibility_constraint.hpp>
#include <moveit_studio_agent_msgs/msg/robot_joint_state.hpp>
#include <tl_expected/expected.hpp>

Include dependency graph for moveit_tools.hpp:

This graph shows which files directly or indirectly include this file:

Namespaces
	moveit_studio
	moveit_studio::helper_functions

Functions
std::optional< moveit::task_constructor::TrajectoryExecutionInfo >	moveit_studio::helper_functions::getDefaultTrajectoryExecutionInfo (const std::string &controller_names)
	Process a string containing a space-separated list of controller names to compose an MTC TrajectoryExecutionInfo object describing which controllers to use when executing the trajectory. More...
tl::expected< sensor_msgs::msg::JointState, std::string >	moveit_studio::helper_functions::filterJointStateForGroup (const moveit_studio_agent_msgs::msg::RobotJointState &joint_state_in, const moveit::core::RobotModelConstPtr &robot_model, const std::string &planning_group_name)
	Create a joint state that contains the subset of joints in an input joint state that are associated with a particular planning group. More...
moveit_msgs::msg::VisibilityConstraint	moveit_studio::helper_functions::createCameraVisibilityConstraint (const std::string &camera_optical_frame, const std_msgs::msg::Header &target_header, const geometry_msgs::msg::Pose &target_pose, const double camera_field_of_view, const double target_diameter, const double sensor_z_offset)
	Create a VisibilityConstraint to make the robot look at an object in the scene. More...
std::string	moveit_studio::helper_functions::getFullName (const moveit::task_constructor::Stage *stage)
	Get the fully-qualified name of a MTC stage. More...
bool	moveit_studio::helper_functions::collisionValidationFunction (const moveit::core::JointModelGroup &group, const Eigen::VectorXd &goal_positions, planning_scene::PlanningScene &planning_scene)
	Validate a joint-space configuration by checking for collisions in the given planning scene. More...