SetupMTCCartesianSequence Class
Given an existing MTC Task object and a sequence of target poses, appends MTC stages to plan a sequence of cartesian motions between the poses. More...
Declaration
Included Headers
Base class
| class | SharedResourcesNode<BehaviorTreeNodeT> |
|
The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More... | |
Public Constructors Index
| SetupMTCCartesianSequence (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
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Constructor for SetupMTCCartesianSequence behavior. More... | |
Public Member Functions Index
| BT::NodeStatus | tick () override |
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Synchronous, blocking function that must return SUCCESS/FAILURE every time this action node is ticked by the behavior tree. More... | |
Public Static Functions Index
| static BT::PortsList | providedPorts () |
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Custom tree nodes that have input and/or output ports must define them in this static function. More... | |
| static BT::KeyValueVector | metadata () |
Description
Given an existing MTC Task object and a sequence of target poses, appends MTC stages to plan a sequence of cartesian motions between the poses.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| task | Bidirectional | std::shared_ptr<moveit_pro::task_constructor::Task> |
| ik_frame | Input | std::string |
| planning_group_name | Input | std::string |
| pose_stamped_vector | Input | std::vector<geometry_msgs::msg::PoseStamped> |
| monitored_stage | Input | std::string |
| max_distance | Input | double |
| joint_costs | Input | std::vector<double> |
Definition at line 34 of file setup_mtc_cartesian_sequence.hpp.
Public Constructors
SetupMTCCartesianSequence()
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Constructor for SetupMTCCartesianSequence behavior.
- Parameters
-
name Name of the node. Must match the name used for this node in the behavior tree definition file (the .xml file).
config Node configuration. Only used here because the BehaviorTree.CPP expects constructor signature with name and config first before custom constructor parameters.
shared_resources Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_pro::behaviors::SharedResourcesNode.
Declaration at line 48 of file setup_mtc_cartesian_sequence.hpp, definition at line 47 of file setup_mtc_cartesian_sequence.cpp.
Public Member Functions
tick()
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Synchronous, blocking function that must return SUCCESS/FAILURE every time this action node is ticked by the behavior tree.
- Returns
Status of the node. Must be either SUCCESS/FAILURE (the node is "complete" for now). Cannot be RUNNING since this is a synchronous node.
Declaration at line 69 of file setup_mtc_cartesian_sequence.hpp, definition at line 85 of file setup_mtc_cartesian_sequence.cpp.
Public Static Functions
metadata()
| static |
Declaration at line 61 of file setup_mtc_cartesian_sequence.hpp, definition at line 79 of file setup_mtc_cartesian_sequence.cpp.
providedPorts()
| static |
Custom tree nodes that have input and/or output ports must define them in this static function.
This function must be static. It is a requirement set by the BehaviorTree.CPP library.
- Returns
List of ports with the names and port info. The return value is for the internal use of the behavior tree.
Declaration at line 59 of file setup_mtc_cartesian_sequence.hpp, definition at line 53 of file setup_mtc_cartesian_sequence.cpp.
The documentation for this class was generated from the following files:
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