MPCSphereClearance Class

Avoid collision object spheres using MPC. More...

Declaration

class moveit_pro::behaviors::MPCSphereClearance { ... }

Included Headers

#include <mpc_sphere_clearance.hpp>

Base class

class	MPCBehaviorBase<IMPL>
	A base class for behaviors to help set up and execute MPC. More...

Public Constructors Index

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

Public Static Functions Index

static BT::PortsList	providedPorts ()
static auto	getResiduals ()
	Define the residuals used by this MPC behavior. More...
static BT::KeyValueVector	metadata ()

Description

Avoid collision object spheres using MPC.

This behavior uses Model Predictive Control (MPC) to track a pose while avoiding spheres represented as collision objects.

This behavior optimizes a cost function composed of the following residuals:

• Site tracking errors.
• Sphere clearance.
• Cartesian velocity.
• Cartesian acceleration. For further details on the residual functions, please refer to the documentation of each residual function.

Definition at line 33 of file mpc_sphere_clearance.hpp.

Public Constructors

MPCSphereClearance()

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

Declaration at line 36 of file mpc_sphere_clearance.hpp, definition at line 30 of file mpc_sphere_clearance.cpp.

Public Static Functions

getResiduals()

auto moveit_pro::behaviors::MPCSphereClearance::getResiduals ()

inline static

Define the residuals used by this MPC behavior.

This method allows the use of a MPCProblem instance to add residual-specific ports.

Returns

A BT::PortsList containing the required ports for the behavior.

Definition at line 46 of file mpc_sphere_clearance.hpp.

metadata()

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

static

Declaration at line 55 of file mpc_sphere_clearance.hpp, definition at line 41 of file mpc_sphere_clearance.cpp.

providedPorts()

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

static

Declaration at line 39 of file mpc_sphere_clearance.hpp, definition at line 36 of file mpc_sphere_clearance.cpp.

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

• mpc_sphere_clearance.hpp
• mpc_sphere_clearance.cpp

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