ComputeVelocityToAlignWithTarget Class

calculates a control velocity that is a sum of the target velocity and a catchup velocity. The target motion state can be offset from the incoming motion state message. The returned control velocity is designed to be sent to the velocity_force_controller. More...

Declaration

class moveit_pro::behaviors::ComputeVelocityToAlignWithTarget { ... }

Included Headers

#include <compute_velocity_to_align_with_target.hpp>

Base class

class	SharedResourcesNode<BehaviorTreeNodeT>
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

Public Constructors Index

	ComputeVelocityToAlignWithTarget (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Description

calculates a control velocity that is a sum of the target velocity and a catchup velocity. The target motion state can be offset from the incoming motion state message. The returned control velocity is designed to be sent to the velocity_force_controller.

Data Port Name	Port Type	Object Type
target_motion_state	input	nav_msgs::msg::Odometry
target_pose_offset	input	geometry_msgs::msg::PoseStamped
end_effector_frame	input	std::string
proportional_gain_linear	input	double
proportional_gain_angular	input	double
pose_error	output	geometry_msgs::msg::PoseStamped
control_velocity	output	geometry_msgs::msg::TwistStamped

Definition at line 35 of file compute_velocity_to_align_with_target.hpp.

Public Constructors

ComputeVelocityToAlignWithTarget()

moveit_pro::behaviors::ComputeVelocityToAlignWithTarget::ComputeVelocityToAlignWithTarget (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources)

Declaration at line 38 of file compute_velocity_to_align_with_target.hpp, definition at line 53 of file compute_velocity_to_align_with_target.cpp.

Public Member Functions

tick()

BT::NodeStatus moveit_pro::behaviors::ComputeVelocityToAlignWithTarget::tick ()

Declaration at line 45 of file compute_velocity_to_align_with_target.hpp, definition at line 96 of file compute_velocity_to_align_with_target.cpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::ComputeVelocityToAlignWithTarget::metadata ()

static

Declaration at line 43 of file compute_velocity_to_align_with_target.hpp, definition at line 84 of file compute_velocity_to_align_with_target.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::ComputeVelocityToAlignWithTarget::providedPorts ()

static

Declaration at line 41 of file compute_velocity_to_align_with_target.hpp, definition at line 60 of file compute_velocity_to_align_with_target.cpp.

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

• compute_velocity_to_align_with_target.hpp
• compute_velocity_to_align_with_target.cpp

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