`GetRobotStateFromTrajectory` Class

Get the JointState of a JointTrajectory at a specified time. More...

Declaration

class moveit_pro::behaviors::GetRobotStateFromTrajectory { ... }

Included Headers

#include <get_robot_state_from_trajectory.hpp>

Base class

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

Public Constructors Index

	GetRobotStateFromTrajectory (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for GetRobotStateFromTrajectory behavior. More...

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()


static BT::KeyValueVector	metadata ()

Description

Get the JointState of a JointTrajectory at a specified time.

If from_start is true, then the trajectory will be queried at the time_from_reference from its start, otherwise it will be queried at the time_from_reference from its end. If time_from_reference doesn't exactly match a state in the trajectory, but is still within the bounds of the trajectory then the behavior will interpolate between states. The behavior will return FAILURE if the time_from_reference is outside the bounds of the trajectory.

Data Port Name	Port Type	Object Type
joint_trajectory_msg	Input	trajectory_msgs::msg::JointTrajectory
time_from_reference	Input	double
from_start	Input	bool
joint_state	Output	moveit_msgs::msg::RobotState

Definition at line 34 of file get_robot_state_from_trajectory.hpp.

Public Constructors