SetupMTCBatchPoseIK Class

Given an existing MTC Task object and a vector of poses, appends an MTC stage to compute IK solutions. *. More...

Declaration

class moveit_pro::behaviors::SetupMTCBatchPoseIK { ... }

Included Headers

#include <setup_mtc_batch_pose_ik.hpp>

Base class

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

Public Constructors Index

	SetupMTCBatchPoseIK (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	kDefaultStageName = "pose IK"
static constexpr auto	kPortIDTask = "task"
static constexpr auto	kPortIDTargetPoses = "target_poses"
static constexpr auto	kPortIDMonitoredStage = "monitored_stage"
static constexpr auto	kPortIDIKGroup = "ik_group"
static constexpr auto	kPortIDEndEffectorGroup = "end_effector_group"
static constexpr auto	kPortIDEndEffectorLink = "end_effector_link"
static constexpr auto	kPortIDIKTimeoutSeconds = "ik_timeout_s"
static constexpr auto	kPortIDMaxIKSolutions = "max_ik_solutions"
static constexpr auto	kPortIDSpawnTopK = "spawn_top_k"
static constexpr auto	kPortIDJointCosts = "joint_costs"

Description

Given an existing MTC Task object and a vector of poses, appends an MTC stage to compute IK solutions. *.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
monitored_stage	Input	std::string
target_poses	Input	std::vector<geometry_msgs::msg::PoseStamped>
ik_group	Input	std::string
end_effector_group	Input	std::string
end_effector_link	Input	std::string
ik_timeout_s	Input	double
max_ik_solutions	Input	int
spawn_top_k	Input	int
joint_costs	Input	std::vector<double>

Definition at line 33 of file setup_mtc_batch_pose_ik.hpp.

Public Constructors

SetupMTCBatchPoseIK()

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

Declaration at line 51 of file setup_mtc_batch_pose_ik.hpp, definition at line 67 of file setup_mtc_batch_pose_ik.cpp.

Public Member Functions

tick()

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

Declaration at line 58 of file setup_mtc_batch_pose_ik.hpp, definition at line 119 of file setup_mtc_batch_pose_ik.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 56 of file setup_mtc_batch_pose_ik.hpp, definition at line 113 of file setup_mtc_batch_pose_ik.cpp.

providedPorts()

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

static

Declaration at line 54 of file setup_mtc_batch_pose_ik.hpp, definition at line 73 of file setup_mtc_batch_pose_ik.cpp.

Public Static Attributes

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kDefaultStageName = "pose IK"

constexpr static

Definition at line 37 of file setup_mtc_batch_pose_ik.hpp.

kPortIDEndEffectorGroup

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDEndEffectorGroup = "end_effector_group"

constexpr static

Definition at line 44 of file setup_mtc_batch_pose_ik.hpp.

kPortIDEndEffectorLink

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDEndEffectorLink = "end_effector_link"

constexpr static

Definition at line 45 of file setup_mtc_batch_pose_ik.hpp.

kPortIDIKGroup

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDIKGroup = "ik_group"

constexpr static

Definition at line 43 of file setup_mtc_batch_pose_ik.hpp.

kPortIDIKTimeoutSeconds

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDIKTimeoutSeconds = "ik_timeout_s"

constexpr static

Definition at line 46 of file setup_mtc_batch_pose_ik.hpp.

kPortIDJointCosts

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDJointCosts = "joint_costs"

constexpr static

Definition at line 49 of file setup_mtc_batch_pose_ik.hpp.

kPortIDMaxIKSolutions

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDMaxIKSolutions = "max_ik_solutions"

constexpr static

Definition at line 47 of file setup_mtc_batch_pose_ik.hpp.

kPortIDMonitoredStage

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDMonitoredStage = "monitored_stage"

constexpr static

Definition at line 42 of file setup_mtc_batch_pose_ik.hpp.

kPortIDSpawnTopK

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDSpawnTopK = "spawn_top_k"

constexpr static

Definition at line 48 of file setup_mtc_batch_pose_ik.hpp.

kPortIDTargetPoses

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDTargetPoses = "target_poses"

constexpr static

Definition at line 41 of file setup_mtc_batch_pose_ik.hpp.

kPortIDTask

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

constexpr static

Definition at line 40 of file setup_mtc_batch_pose_ik.hpp.

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

• setup_mtc_batch_pose_ik.hpp
• setup_mtc_batch_pose_ik.cpp

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