SetupMTCAddCollisionBox Class

Append an MTC ModifyPlanningScene stage that adds a box-shaped collision object to the planning scene during MTC task execution. More...

Declaration

class moveit_pro::behaviors::SetupMTCAddCollisionBox { ... }

Included Headers

#include <setup_mtc_add_collision_box.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

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

Public Static Attributes Index

static constexpr auto	kPortIDTask = "task"
static constexpr auto	kPortIDObjectId = "object_id"
static constexpr auto	kPortIDDimensions = "dimensions"
static constexpr auto	kPortIDPose = "pose"
static constexpr auto	kPortIDOverwrite = "overwrite"

Description

Append an MTC ModifyPlanningScene stage that adds a box-shaped collision object to the planning scene during MTC task execution.

MTC stage equivalent of AddCollisionBox. The Behavior runs at Behavior-tick time and only appends the stage; the actual scene change happens later, when MTC's planner executes the task. There is no planning_scene port: MTC stages do not have access to a runtime scene at construction time, so the only sink is the task. By default the stage fails to plan when a world object with the same id already exists in the planned scene; set overwrite to true to replace it instead. That check runs against the MTC pipeline scene, never the live scene.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
object_id	Input	std::string
dimensions	Input	std::vector<double>
pose	Input	geometry_msgs::msg::PoseStamped
overwrite	Input	bool

Definition at line 35 of file setup_mtc_add_collision_box.hpp.

Public Constructors

SetupMTCAddCollisionBox()

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

Declaration at line 44 of file setup_mtc_add_collision_box.hpp, definition at line 37 of file setup_mtc_add_collision_box.cpp.

Public Member Functions

tick()

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

Declaration at line 50 of file setup_mtc_add_collision_box.hpp, definition at line 65 of file setup_mtc_add_collision_box.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 48 of file setup_mtc_add_collision_box.hpp, definition at line 60 of file setup_mtc_add_collision_box.cpp.

providedPorts()

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

static

Declaration at line 47 of file setup_mtc_add_collision_box.hpp, definition at line 43 of file setup_mtc_add_collision_box.cpp.

Public Static Attributes

kPortIDDimensions

constexpr auto moveit_pro::behaviors::SetupMTCAddCollisionBox::kPortIDDimensions = "dimensions"

constexpr static

Definition at line 40 of file setup_mtc_add_collision_box.hpp.

kPortIDObjectId

constexpr auto moveit_pro::behaviors::SetupMTCAddCollisionBox::kPortIDObjectId = "object_id"

constexpr static

Definition at line 39 of file setup_mtc_add_collision_box.hpp.

kPortIDOverwrite

constexpr auto moveit_pro::behaviors::SetupMTCAddCollisionBox::kPortIDOverwrite = "overwrite"

constexpr static

Definition at line 42 of file setup_mtc_add_collision_box.hpp.

kPortIDPose

constexpr auto moveit_pro::behaviors::SetupMTCAddCollisionBox::kPortIDPose = "pose"

constexpr static

Definition at line 41 of file setup_mtc_add_collision_box.hpp.

kPortIDTask

constexpr auto moveit_pro::behaviors::SetupMTCAddCollisionBox::kPortIDTask = "task"

constexpr static

Definition at line 38 of file setup_mtc_add_collision_box.hpp.

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

• setup_mtc_add_collision_box.hpp
• setup_mtc_add_collision_box.cpp

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