CreateWrenchStamped Class

Create a geometry_msgs::msg::WrenchStamped and writes it to the Blackboard. More...

Declaration

class moveit_pro::behaviors::CreateWrenchStamped { ... }

Included Headers

#include <create_wrench_stamped.hpp>

Base class

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

Public Constructors Index

	CreateWrenchStamped (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)
	Construct a new CreateWrenchStamped behavior. More...

Public Member Functions Index

BT::NodeStatus	tick () override
	Contains the logic to create a valid geometry_msgs::msg::WrenchStamped message. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Returns list of ports for this behavior. More...
static BT::KeyValueVector	metadata ()

Description

Create a geometry_msgs::msg::WrenchStamped and writes it to the Blackboard.

Data Port Name	Port Type	Object Type
reference_frame	input	std::string
force_xyz	input	std::vector<double>
torque_xyz	input	std::vector<double>
wrench_stamped	output	geometry_msgs::msg::WrenchStamped

The Behavior checks to see if the input values force_xyz and torque_xyz are of size 3.

Definition at line 28 of file create_wrench_stamped.hpp.

Public Constructors

CreateWrenchStamped()

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

Construct a new CreateWrenchStamped behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Declaration at line 38 of file create_wrench_stamped.hpp, definition at line 27 of file create_wrench_stamped.cpp.

Public Member Functions

tick()

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

Contains the logic to create a valid geometry_msgs::msg::WrenchStamped message.

Returns

BT::NodeStatus Returns success if successful, else failure.

Declaration at line 53 of file create_wrench_stamped.hpp, definition at line 50 of file create_wrench_stamped.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 47 of file create_wrench_stamped.hpp, definition at line 45 of file create_wrench_stamped.cpp.

providedPorts()

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

static

Returns list of ports for this behavior.

Returns

BT::PortsList

Declaration at line 45 of file create_wrench_stamped.hpp, definition at line 33 of file create_wrench_stamped.cpp.

---

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

• create_wrench_stamped.hpp
• create_wrench_stamped.cpp

---

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.