SetupMTCAddCollisionSphere Class

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

Declaration

class moveit_pro::behaviors::SetupMTCAddCollisionSphere { ... }

Included Headers

#include <setup_mtc_add_collision_sphere.hpp>

Base class

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

Public Constructors Index

	SetupMTCAddCollisionSphere (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	kPortIDRadius = "radius"
static constexpr auto	kPortIDPose = "pose"
static constexpr auto	kPortIDOverwrite = "overwrite"

Description

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

MTC stage equivalent of AddCollisionSphere. The Behavior only appends the stage at Behavior-tick time; the scene change happens later, when MTC's planner executes 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
radius	Input	double
pose	Input	geometry_msgs::msg::PoseStamped
overwrite	Input	bool

Definition at line 34 of file setup_mtc_add_collision_sphere.hpp.

Public Constructors

SetupMTCAddCollisionSphere()

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

Declaration at line 43 of file setup_mtc_add_collision_sphere.hpp, definition at line 36 of file setup_mtc_add_collision_sphere.cpp.

Public Member Functions

tick()

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

Declaration at line 49 of file setup_mtc_add_collision_sphere.hpp, definition at line 62 of file setup_mtc_add_collision_sphere.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 47 of file setup_mtc_add_collision_sphere.hpp, definition at line 57 of file setup_mtc_add_collision_sphere.cpp.

providedPorts()

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

static

Declaration at line 46 of file setup_mtc_add_collision_sphere.hpp, definition at line 42 of file setup_mtc_add_collision_sphere.cpp.

Public Static Attributes

kPortIDObjectId

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

constexpr static

Definition at line 38 of file setup_mtc_add_collision_sphere.hpp.

kPortIDOverwrite

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

constexpr static

Definition at line 41 of file setup_mtc_add_collision_sphere.hpp.

kPortIDPose

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

constexpr static

Definition at line 40 of file setup_mtc_add_collision_sphere.hpp.

kPortIDRadius

constexpr auto moveit_pro::behaviors::SetupMTCAddCollisionSphere::kPortIDRadius = "radius"

constexpr static

Definition at line 39 of file setup_mtc_add_collision_sphere.hpp.

kPortIDTask

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

constexpr static

Definition at line 37 of file setup_mtc_add_collision_sphere.hpp.

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

• setup_mtc_add_collision_sphere.hpp
• setup_mtc_add_collision_sphere.cpp

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