SetupMTCDetachObjectByID Class

Append an MTC ModifyPlanningScene stage that detaches a collision object from a robot link during MTC task execution. More...

Declaration

class moveit_pro::behaviors::SetupMTCDetachObjectByID { ... }

Included Headers

#include <setup_mtc_detach_object_by_id.hpp>

Base class

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

Public Constructors Index

	SetupMTCDetachObjectByID (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	kPortIDLinkName = "link_name"

Description

Append an MTC ModifyPlanningScene stage that detaches a collision object from a robot link during MTC task execution.

MTC stage equivalent of DetachObject, taking a plain object_id. The Behavior only appends the stage at Behavior-tick time; the scene change happens later, when MTC's planner executes the task.

Unlike the non-MTC DetachObject, link_name is required: MTC stages are constructed before the task runs, so the runtime scene cannot be queried to find which link the object is currently attached to.

Planning fails when the object is attached to a link other than the requested one. Detaching an object that is not attached succeeds as a no-op: the intent is already satisfied.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
object_id	Input	std::string
link_name	Input	std::string

Definition at line 37 of file setup_mtc_detach_object_by_id.hpp.

Public Constructors

SetupMTCDetachObjectByID()

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

Declaration at line 44 of file setup_mtc_detach_object_by_id.hpp, definition at line 35 of file setup_mtc_detach_object_by_id.cpp.

Public Member Functions

tick()

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

Declaration at line 50 of file setup_mtc_detach_object_by_id.hpp, definition at line 60 of file setup_mtc_detach_object_by_id.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 48 of file setup_mtc_detach_object_by_id.hpp, definition at line 55 of file setup_mtc_detach_object_by_id.cpp.

providedPorts()

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

static

Declaration at line 47 of file setup_mtc_detach_object_by_id.hpp, definition at line 41 of file setup_mtc_detach_object_by_id.cpp.

Public Static Attributes

kPortIDLinkName

constexpr auto moveit_pro::behaviors::SetupMTCDetachObjectByID::kPortIDLinkName = "link_name"

constexpr static

Definition at line 42 of file setup_mtc_detach_object_by_id.hpp.

kPortIDObjectId

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

constexpr static

Definition at line 41 of file setup_mtc_detach_object_by_id.hpp.

kPortIDTask

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

constexpr static

Definition at line 40 of file setup_mtc_detach_object_by_id.hpp.

---

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

• setup_mtc_detach_object_by_id.hpp
• setup_mtc_detach_object_by_id.cpp

---

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.