SetupMTCMoveAlongFrameAxis Class

Given an existing MTC Task object, append a MTC MoveRelative stage to perform a cartesian motion along an axis. More...

Declaration

class moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis { ... }

Included Headers

#include <setup_mtc_move_along_frame_axis.hpp>

Base class

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

Public Constructors Index

	SetupMTCMoveAlongFrameAxis (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 = "Cartesian Motion"
static constexpr auto	kPortIDAccelerationScale = "acceleration_scale"
static constexpr auto	kPortIDAxisFrame = "axis_frame"
static constexpr auto	kPortIDAxisX = "axis_x"
static constexpr auto	kPortIDAxisY = "axis_y"
static constexpr auto	kPortIDAxisZ = "axis_z"
static constexpr auto	kPortIDHandFrame = "hand_frame"
static constexpr auto	kPortIDMaxDistance = "max_distance"
static constexpr auto	kPortIDMinDistance = "min_distance"
static constexpr auto	kPortIDPlanningGroupName = "planning_group_name"
static constexpr auto	kPortIDTask = "task"
static constexpr auto	kPortIDVelocityScale = "velocity_scale"
static constexpr auto	kPortIDIgnoreEnvironmentCollisions = "ignore_environment_collisions"

Description

Given an existing MTC Task object, append a MTC MoveRelative stage to perform a cartesian motion along an axis.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
axis_x	Input	double
axis_y	Input	double
axis_z	Input	double
axis_frame	Input	std::string
min_distance	Input	double
max_distance	Input	double
planning_group_name	Input	std::string
hand_frame	Input	std::string
velocity_scale	Input	double
acceleration_scale	Input	double
ignore_environment_collisions	Input	bool

Definition at line 36 of file setup_mtc_move_along_frame_axis.hpp.

Public Constructors

SetupMTCMoveAlongFrameAxis()

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

Declaration at line 56 of file setup_mtc_move_along_frame_axis.hpp, definition at line 80 of file setup_mtc_move_along_frame_axis.cpp.

Public Member Functions

tick()

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

Declaration at line 63 of file setup_mtc_move_along_frame_axis.hpp, definition at line 130 of file setup_mtc_move_along_frame_axis.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 61 of file setup_mtc_move_along_frame_axis.hpp, definition at line 124 of file setup_mtc_move_along_frame_axis.cpp.

providedPorts()

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

static

Declaration at line 59 of file setup_mtc_move_along_frame_axis.hpp, definition at line 86 of file setup_mtc_move_along_frame_axis.cpp.

Public Static Attributes

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kDefaultStageName = "Cartesian Motion"

constexpr static

Definition at line 40 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDAccelerationScale

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDAccelerationScale = "acceleration_scale"

constexpr static

Definition at line 43 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDAxisFrame

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDAxisFrame = "axis_frame"

constexpr static

Definition at line 44 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDAxisX

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDAxisX = "axis_x"

constexpr static

Definition at line 45 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDAxisY

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDAxisY = "axis_y"

constexpr static

Definition at line 46 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDAxisZ

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDAxisZ = "axis_z"

constexpr static

Definition at line 47 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDHandFrame

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDHandFrame = "hand_frame"

constexpr static

Definition at line 48 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDIgnoreEnvironmentCollisions

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDIgnoreEnvironmentCollisions = "ignore_environment_collisions"

constexpr static

Definition at line 54 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDMaxDistance

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDMaxDistance = "max_distance"

constexpr static

Definition at line 49 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDMinDistance

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDMinDistance = "min_distance"

constexpr static

Definition at line 50 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDPlanningGroupName

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDPlanningGroupName = "planning_group_name"

constexpr static

Definition at line 51 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDTask

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

constexpr static

Definition at line 52 of file setup_mtc_move_along_frame_axis.hpp.

kPortIDVelocityScale

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDVelocityScale = "velocity_scale"

constexpr static

Definition at line 53 of file setup_mtc_move_along_frame_axis.hpp.

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

• setup_mtc_move_along_frame_axis.hpp
• setup_mtc_move_along_frame_axis.cpp

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