diff --git a/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp b/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp index e69143a845..96a3f2cdb0 100644 --- a/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp +++ b/moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp @@ -64,7 +64,7 @@ void initTrajectoryExecutionManager(py::module& m) R"( Make sure the active controllers are such that trajectories that actuate joints in the specified group can be executed. - If manage_controllers_ is false and the controllers that happen to be active do not cover the joints in the group to be actuated, this function fails. + If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not cover the joints in the group to be actuated, this function fails. )") .def("ensure_active_controllers_for_joints", @@ -73,7 +73,7 @@ void initTrajectoryExecutionManager(py::module& m) R"( Make sure the active controllers are such that trajectories that actuate joints in the specified set can be executed. - If manage_controllers_ is false and the controllers that happen to be active do not cover the joints to be actuated, this function fails. + If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not cover the joints to be actuated, this function fails. )") .def("ensure_active_controller", @@ -81,7 +81,7 @@ void initTrajectoryExecutionManager(py::module& m) R"( Make sure a particular controller is active. - If manage_controllers_ is false and the controllers that happen to be active to not include the one specified as argument, this function fails. + If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not include the one specified as argument, this function fails. )") .def("ensure_active_controllers", @@ -89,7 +89,7 @@ void initTrajectoryExecutionManager(py::module& m) R"( Make sure a particular set of controllers are active. - If manage_controllers_ is false and the controllers that happen to be active to not include the ones specified as argument, this function fails. + If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not include the ones specified as argument, this function fails. )") .def("is_controller_active", &trajectory_execution_manager::TrajectoryExecutionManager::isControllerActive, @@ -101,7 +101,7 @@ void initTrajectoryExecutionManager(py::module& m) .def("are_controllers_active", &trajectory_execution_manager::TrajectoryExecutionManager::areControllersActive, py::arg("controllers"), R"( - Check if a set of controllers are active + Check if a set of controllers is active. )") .def("push", diff --git a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h index b76aaf6fb3..18ab7c32bf 100644 --- a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h +++ b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h @@ -105,30 +105,30 @@ class MOVEIT_TRAJECTORY_EXECUTION_MANAGER_EXPORT TrajectoryExecutionManager /** \brief Make sure the active controllers are such that trajectories that actuate joints in the specified group can be executed. - \note If manage_controllers_ is false and the controllers that happen to be active do not cover the joints in the - group to be actuated, this function fails. */ + \note If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not + cover the joints in the group to be actuated, this function fails. */ bool ensureActiveControllersForGroup(const std::string& group); /** \brief Make sure the active controllers are such that trajectories that actuate joints in the specified set can be executed. - \note If manage_controllers_ is false and the controllers that happen to be active do not cover the joints to be - actuated, this function fails. */ + \note If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not + cover the joints to be actuated, this function fails. */ bool ensureActiveControllersForJoints(const std::vector& joints); /** \brief Make sure a particular controller is active. - \note If manage_controllers_ is false and the controllers that happen to be active to not include the one - specified as argument, this function fails. */ + \note If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not + include the one specified as argument, this function fails. */ bool ensureActiveController(const std::string& controller); /** \brief Make sure a particular set of controllers are active. - \note If manage_controllers_ is false and the controllers that happen to be active to not include the ones - specified as argument, this function fails. */ + \note If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not + include the ones specified as argument, this function fails. */ bool ensureActiveControllers(const std::vector& controllers); - /** \brief Check if a controller is active */ + /** \brief Check if a controller is active. */ bool isControllerActive(const std::string& controller); - /** \brief Check if a set of controllers are active */ + /** \brief Check if a set of controllers is active. */ bool areControllersActive(const std::vector& controllers); /// Add a trajectory for future execution. Optionally specify a controller to use for the trajectory. If no controller