SetupMTCInterpolateToRobotState Class

Given an existing MTC Task object and a joint state, appends MTC stages to describe a joint-interpolated motion plan to that joint state. More...

Declaration

class moveit_pro::behaviors::SetupMTCInterpolateToRobotState { ... }

Included Headers

#include <setup_mtc_interpolate_to_robot_state.hpp>

Base class

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

Public Constructors Index

	SetupMTCInterpolateToRobotState (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SetupMTCInterpolateToRobotState behavior. More...

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 = "Interpolate to a joint state"

Description

Given an existing MTC Task object and a joint state, appends MTC stages to describe a joint-interpolated motion plan to that joint state.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
planning_group_name	Input	std::string
joint_state	Input	moveit_msgs::msg::RobotState

Definition at line 28 of file setup_mtc_interpolate_to_robot_state.hpp.

Public Constructors

SetupMTCInterpolateToRobotState()

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

Constructor for SetupMTCInterpolateToRobotState behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Declaration at line 40 of file setup_mtc_interpolate_to_robot_state.hpp, definition at line 39 of file setup_mtc_interpolate_to_robot_state.cpp.

Public Member Functions

tick()

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

Declaration at line 47 of file setup_mtc_interpolate_to_robot_state.hpp, definition at line 65 of file setup_mtc_interpolate_to_robot_state.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 45 of file setup_mtc_interpolate_to_robot_state.hpp, definition at line 59 of file setup_mtc_interpolate_to_robot_state.cpp.

providedPorts()

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

static

Declaration at line 43 of file setup_mtc_interpolate_to_robot_state.hpp, definition at line 46 of file setup_mtc_interpolate_to_robot_state.cpp.

Public Static Attributes

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCInterpolateToRobotState::kDefaultStageName = "Interpolate to a joint state"

constexpr static

Definition at line 32 of file setup_mtc_interpolate_to_robot_state.hpp.

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

• setup_mtc_interpolate_to_robot_state.hpp
• setup_mtc_interpolate_to_robot_state.cpp

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