def enforce_bounds(self, robot_state_msg):
""" Takes a moveit_msgs RobotState and enforces the state bounds, based on the C++ RobotState enforceBounds() """
s = RobotState()
c_str = self._g.enforce_bounds(
conversions.msg_to_string(robot_state_msg))
conversions.msg_from_string(s, c_str)
return s
def get_robot_markers(self, *args):
"""Get a MarkerArray of the markers that make up this robot
Usage:
(): get's all markers for current state
state (RobotState): gets markers for a particular state
values (dict): get markers with given values
values, links (dict, list): get markers with given values and these links
group (string): get all markers for a group
group, values (string, dict): get all markers for a group with desired values
"""
mrkr = MarkerArray()
if not args:
conversions.msg_from_string(mrkr, self._r.get_robot_markers())
else:
if isinstance(args[0], RobotState):
msg_str = conversions.msg_to_string(args[0])
conversions.msg_from_string(mrkr, self._r.get_robot_markers(msg_str))
elif isinstance(args[0], dict):
conversions.msg_from_string(mrkr, self._r.get_robot_markers(*args))
elif isinstance(args[0], str):
conversions.msg_from_string(mrkr, self._r.get_group_markers(*args))
else:
raise MoveItCommanderException("Unexpected type")
return mrkr
def get_robot_markers(self, *args):
"""Get a MarkerArray of the markers that make up this robot
Usage:
(): get's all markers for current state
state (RobotState): gets markers for a particular state
values (dict): get markers with given values
values, links (dict, list): get markers with given values and these links
group (string): get all markers for a group
group, values (string, dict): get all markers for a group with desired values
"""
mrkr = MarkerArray()
if not args:
conversions.msg_from_string(mrkr, self._r.get_robot_markers())
else:
if isinstance(args[0], RobotState):
msg_str = conversions.msg_to_string(args[0])
conversions.msg_from_string(mrkr, self._r.get_robot_markers(msg_str))
elif isinstance(args[0], dict):
conversions.msg_from_string(mrkr, self._r.get_robot_markers(*args))
elif isinstance(args[0], str):
conversions.msg_from_string(mrkr, self._r.get_group_markers(*args))
else:
raise MoveItCommanderException("Unexpected type")
return mrkr
def get_trajectory_constraints(self):
""" Get the actual trajectory constraints in form of a moveit_msgs.msgs.Constraints """
c = Constraints()
c_str = self._g.get_trajectory_constraints()
conversions.msg_from_string(c, c_str)
return c
def get_path_constraints(self):
""" Get the acutal path constraints in form of a moveit_msgs.msgs.Constraints """
c = Constraints()
c_str = self._g.get_path_constraints()
conversions.msg_from_string(c, c_str)
return c
def get_current_state(self):
""" Get the current state of the robot."""
s = RobotState()
c_str = self._g.get_current_state()
conversions.msg_from_string(s, c_str)
return s
def get_interface_description(self):
""" Get the description of the planner interface (list of planner ids) """
desc = PlannerInterfaceDescription()
conversions.msg_from_string(desc, self._g.get_interface_description())
return desc
def get_interface_description(self):
""" Get the description of the planner interface (list of planner ids) """
desc = PlannerInterfaceDescription()
conversions.msg_from_string(desc, self._g.get_interface_description())
return desc
def get_trajectory_constraints(self):
""" Get the actual trajectory constraints in form of a moveit_msgs.msgs.Constraints """
c = Constraints()
c_str = self._g.get_trajectory_constraints()
conversions.msg_from_string(c, c_str)
return c
def get_path_constraints(self):
""" Get the acutal path constraints in form of a moveit_msgs.msgs.Constraints """
c = Constraints()
c_str = self._g.get_path_constraints()
conversions.msg_from_string(c, c_str)
return c
