ConvertMtcSolutionToJointTrajectory Class

Converts a MoveIt Task Constructor Solution into a JointTrajectory. More...

Declaration

class moveit_pro::behaviors::ConvertMtcSolutionToJointTrajectory { ... }

Included Headers

#include <convert_mtc_solution_to_joint_trajectory.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Private Member Functions Index

const std::vector< Eigen::VectorXd > &	extractJointPositions (const moveit_task_constructor_msgs::msg::Solution &solution)

Private Member Attributes Index

std::unique_ptr< moveit_pro::base::robot_model_loader::RobotModelLoader >	robot_model_loader_

Public Static Functions Index

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

Description

Converts a MoveIt Task Constructor Solution into a JointTrajectory.

Data Port Name	Port Type	Object Type
solution	Input	moveit_task_constructor_msgs::msg::Solution
joint_group	Input	std::string
velocity_scaling_factor	Input	double
acceleration_scaling_factor	Input	double
sampling_rate	Input	int
joint_trajectory	Output	trajectory_msgs::msg::JointTrajectory

Definition at line 39 of file convert_mtc_solution_to_joint_trajectory.hpp.

Public Constructors

ConvertMtcSolutionToJointTrajectory()

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

Declaration at line 42 of file convert_mtc_solution_to_joint_trajectory.hpp, definition at line 25 of file convert_mtc_solution_to_joint_trajectory.cpp.

Public Member Functions

tick()

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

Declaration at line 49 of file convert_mtc_solution_to_joint_trajectory.hpp, definition at line 54 of file convert_mtc_solution_to_joint_trajectory.cpp.

Private Member Functions

extractJointPositions()

const std::vector< Eigen::VectorXd > & moveit_pro::behaviors::ConvertMtcSolutionToJointTrajectory::extractJointPositions (const moveit_task_constructor_msgs::msg::Solution & solution)

Declaration at line 54 of file convert_mtc_solution_to_joint_trajectory.hpp, definition at line 123 of file convert_mtc_solution_to_joint_trajectory.cpp.

Private Member Attributes

robot_model_loader_

std::unique_ptr<moveit_pro::base::robot_model_loader::RobotModelLoader> moveit_pro::behaviors::ConvertMtcSolutionToJointTrajectory::robot_model_loader_

Definition at line 52 of file convert_mtc_solution_to_joint_trajectory.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 47 of file convert_mtc_solution_to_joint_trajectory.hpp, definition at line 47 of file convert_mtc_solution_to_joint_trajectory.cpp.

providedPorts()

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

static

Declaration at line 45 of file convert_mtc_solution_to_joint_trajectory.hpp, definition at line 32 of file convert_mtc_solution_to_joint_trajectory.cpp.

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

• convert_mtc_solution_to_joint_trajectory.hpp
• convert_mtc_solution_to_joint_trajectory.cpp

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