SetupMTCFromSolution Class

Given an existing MTC Task object, appends an MTC Stage to the Task that initializes it with the final planning scene of a given solution. More...

Declaration

class moveit_pro::behaviors::SetupMTCFromSolution { ... }

Included Headers

#include <setup_mtc_from_solution.hpp>

Base class

class	BT::SyncActionNode

Public Constructors Index

	SetupMTCFromSolution (const std::string &name, const BT::NodeConfiguration &config)

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 = "Initial state"

Description

Given an existing MTC Task object, appends an MTC Stage to the Task that initializes it with the final planning scene of a given solution.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
solution	Input	std::shared_ptr<moveit_task_constructor_msgs::msg::Solution>

Definition at line 26 of file setup_mtc_from_solution.hpp.

Public Constructors

SetupMTCFromSolution()

moveit_pro::behaviors::SetupMTCFromSolution::SetupMTCFromSolution (const std::string & name, const BT::NodeConfiguration & config)

Declaration at line 32 of file setup_mtc_from_solution.hpp, definition at line 36 of file setup_mtc_from_solution.cpp.

Public Member Functions

tick()

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

Declaration at line 38 of file setup_mtc_from_solution.hpp, definition at line 56 of file setup_mtc_from_solution.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 36 of file setup_mtc_from_solution.hpp, definition at line 50 of file setup_mtc_from_solution.cpp.

providedPorts()

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

static

Declaration at line 34 of file setup_mtc_from_solution.hpp, definition at line 41 of file setup_mtc_from_solution.cpp.

Public Static Attributes

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCFromSolution::kDefaultStageName = "Initial state"

constexpr static

Definition at line 30 of file setup_mtc_from_solution.hpp.

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

• setup_mtc_from_solution.hpp
• setup_mtc_from_solution.cpp

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