MoveIt実装調査

moveit::planning_interface::MoveGroupInterface Class Reference
http://docs.ros.org/en/melodic/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1MoveGroupInterface.html

#include <moveit/planning_interface/move_group_interface.h>

class moveit::planning_interface::MoveGroupInterface

moveit::core::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::move()
{
  return impl_->move(true);
}

class moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl

moveit::core::MoveItErrorCode move(bool wait)
{
略
  move_action_client_->sendGoal(goal);
  if (!wait)
  {
    return moveit::core::MoveItErrorCode::SUCCESS;
  }
  if (!move_action_client_->waitForResult())
  {
    ROS_INFO_STREAM_NAMED("move_group_interface", "MoveGroup action returned early");
  }
  if (move_action_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
  {
    return move_action_client_->getResult()->error_code;
  }
  else
  {
    ROS_INFO_STREAM_NAMED("move_group_interface", move_action_client_->getState().toString()
                                                      << ": " << move_action_client_->getState().getText());
    return move_action_client_->getResult()->error_code;
  }
}

namespace moveit
{
namespace planning_interface
{
class MoveGroupInterface
{
private:
  class MoveGroupInterfaceImpl;
  MoveGroupInterfaceImpl* impl_;
};
}  // namespace planning_interface
}  // namespace moveit