A container struct for all relevant information about a motion planning request to move group. More...

#include <services.h>

Public Member Functions
bool	fromYAMLFile (const std::string &filename)
	Load a recorded action from a YAML file. More...

bool	toYAMLFile (const std::string &filename)
	Save a recorded action to a YAML file. More...

Public Attributes
std::string	id
	Goal ID. More...

ScenePtr	scene
	Scene used for planning. More...

moveit_msgs::MotionPlanRequest	request
	Motion planning request. More...

bool	success
	Planning success. More...

double	time
	Planning time. More...

moveit_msgs::RobotTrajectory	trajectory
	Planned trajectory on success. More...

Detailed Description

A container struct for all relevant information about a motion planning request to move group.

Definition at line 32 of file services.h.

Member Function Documentation

◆ fromYAMLFile()

bool MoveGroupHelper::Action::fromYAMLFile ( const std::string & filename )

Load a recorded action from a YAML file.

Parameters

[in] filename Filename to load from.

Returns: True on success, false on failure.

MoveGroupHelper::Action

Definition at line 24 of file services.cpp.

 {
     movegroup::MoveGroupHelper::Action action;
     const auto file = IO::loadFileToYAML(filename);
  
     if (!file.first)
     {
         RBX_WARN("Failed to open file %s!", filename);
         return false;
     }
  
     id = file.second["id"].as<std::string>();
     request = file.second["request"].as<moveit_msgs::MotionPlanRequest>();
     success = file.second["success"].as<bool>();
     time = file.second["time"].as<double>();
  
     if (IO::isNode(file.second["trajectory"]))
         trajectory = file.second["trajectory"].as<moveit_msgs::RobotTrajectory>();
  
     return true;
 }

◆ toYAMLFile()

bool MoveGroupHelper::Action::toYAMLFile ( const std::string & filename )

Save a recorded action to a YAML file.

Parameters

[in] filename Filename to save as.

Returns: True on success, false on failure.

Definition at line 46 of file services.cpp.

 {
     YAML::Node node;
  
     node["id"] = id;
  
     moveit_msgs::PlanningScene scene_msg;
     scene->getSceneConst()->getPlanningSceneMsg(scene_msg);
     node["scene"] = IO::toNode(scene_msg);
  
     node["request"] = IO::toNode(request);
     node["success"] = success ? "true" : "false";
     node["time"] = time;
     node["trajectory"] = IO::toNode(trajectory);
  
     return IO::YAMLToFile(node, filename);
 }

Member Data Documentation

◆ id

std::string robowflex::movegroup::MoveGroupHelper::Action::id

Goal ID.

Definition at line 34 of file services.h.

◆ request

moveit_msgs::MotionPlanRequest robowflex::movegroup::MoveGroupHelper::Action::request

Motion planning request.

Definition at line 36 of file services.h.

◆ scene

ScenePtr robowflex::movegroup::MoveGroupHelper::Action::scene

Scene used for planning.

Definition at line 35 of file services.h.

◆ success

bool robowflex::movegroup::MoveGroupHelper::Action::success

Planning success.

Definition at line 37 of file services.h.

◆ time

double robowflex::movegroup::MoveGroupHelper::Action::time

Planning time.

Definition at line 38 of file services.h.

◆ trajectory

moveit_msgs::RobotTrajectory robowflex::movegroup::MoveGroupHelper::Action::trajectory

Planned trajectory on success.

Definition at line 39 of file services.h.

The documentation for this struct was generated from the following files:

Public Member Functions

Public Attributes