SetupMTCMultiEEFMoveAlongAxis Class

The SetupMTCMultiEEFMoveAlongAxis class adds a dual cartesian motion stage to a MoveIt Task Constructor task. More...

Declaration

class moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis { ... }

Included Headers

#include <setup_mtc_multi_eef_cartesian.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override
	Main execution function for the node. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Provides the list of required and optional ports. More...
static BT::KeyValueVector	metadata ()
	Provides metadata for this node. More...

Public Static Attributes Index

static constexpr auto	kPortIdIkFrames = "ik_frames"
static constexpr auto	kPortIdPlanningGroupNames = "planning_group_names"
static constexpr auto	kPortIdAxisX = "axis_x"
static constexpr auto	kPortIdAxisY = "axis_y"
static constexpr auto	kPortIdAxisZ = "axis_z"
static constexpr auto	kPortIdMinDistance = "min_distance"
static constexpr auto	kPortIdMaxDistance = "max_distance"
static constexpr auto	kPortIdTask = "task"
static constexpr auto	kPortIdMonitoredStage = "monitored_stage"
static constexpr auto	kPortIdVelocityScaleFactor = "velocity_scale_factor"
static constexpr auto	kPortIdAccelerationScaleFactor = "acceleration_scale_factor"

Description

The SetupMTCMultiEEFMoveAlongAxis class adds a dual cartesian motion stage to a MoveIt Task Constructor task.

This BehaviorTree node retrieves parameters from its input ports and sets up a MoveRelative stage (one for each provided IK frame) whose motions are merged together.

Definition at line 24 of file setup_mtc_multi_eef_cartesian.hpp.

Public Constructors

SetupMTCMultiEEFMoveAlongAxis()

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

Constructor.

Parameters

name	The name of the BT node.
config	The node configuration.
shared_resources	Pointer to shared resources, including the robot model.

Declaration at line 47 of file setup_mtc_multi_eef_cartesian.hpp, definition at line 82 of file setup_mtc_multi_eef_cartesian.cpp.

Public Member Functions

tick()

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

Main execution function for the node.

This function retrieves inputs from the BehaviorTree ports, validates them, creates a dual cartesian motion stage, and adds it to the provided MTC task.

Returns

BT::NodeStatus::SUCCESS if the stage was added successfully, otherwise BT::NodeStatus::FAILURE.

Declaration at line 72 of file setup_mtc_multi_eef_cartesian.hpp, definition at line 138 of file setup_mtc_multi_eef_cartesian.cpp.

Public Static Functions

metadata()

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

static

Provides metadata for this node.

Returns

A BT::KeyValueVector containing metadata fields such as description and subcategory.

Declaration at line 62 of file setup_mtc_multi_eef_cartesian.hpp, definition at line 126 of file setup_mtc_multi_eef_cartesian.cpp.

providedPorts()

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

static

Provides the list of required and optional ports.

Returns

A BT::PortsList containing the definitions of the input and output ports.

Declaration at line 55 of file setup_mtc_multi_eef_cartesian.hpp, definition at line 89 of file setup_mtc_multi_eef_cartesian.cpp.

Public Static Attributes

kPortIdAccelerationScaleFactor

constexpr auto moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdAccelerationScaleFactor = "acceleration_scale_factor"

constexpr static

Definition at line 39 of file setup_mtc_multi_eef_cartesian.hpp.

kPortIdAxisX

constexpr auto moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdAxisX = "axis_x"

constexpr static

Definition at line 31 of file setup_mtc_multi_eef_cartesian.hpp.

kPortIdAxisY

constexpr auto moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdAxisY = "axis_y"

constexpr static

Definition at line 32 of file setup_mtc_multi_eef_cartesian.hpp.

kPortIdAxisZ

constexpr auto moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdAxisZ = "axis_z"

constexpr static

Definition at line 33 of file setup_mtc_multi_eef_cartesian.hpp.

kPortIdIkFrames

constexpr auto moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdIkFrames = "ik_frames"

constexpr static

Definition at line 29 of file setup_mtc_multi_eef_cartesian.hpp.

kPortIdMaxDistance

constexpr auto moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdMaxDistance = "max_distance"

constexpr static

Definition at line 35 of file setup_mtc_multi_eef_cartesian.hpp.

kPortIdMinDistance

constexpr auto moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdMinDistance = "min_distance"

constexpr static

Definition at line 34 of file setup_mtc_multi_eef_cartesian.hpp.

kPortIdMonitoredStage

constexpr auto moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdMonitoredStage = "monitored_stage"

constexpr static

Definition at line 37 of file setup_mtc_multi_eef_cartesian.hpp.

kPortIdPlanningGroupNames

constexpr auto moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdPlanningGroupNames = "planning_group_names"

constexpr static

Definition at line 30 of file setup_mtc_multi_eef_cartesian.hpp.

kPortIdTask

constexpr auto moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdTask = "task"

constexpr static

Definition at line 36 of file setup_mtc_multi_eef_cartesian.hpp.

kPortIdVelocityScaleFactor

constexpr auto moveit_pro::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdVelocityScaleFactor = "velocity_scale_factor"

constexpr static

Definition at line 38 of file setup_mtc_multi_eef_cartesian.hpp.

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

• setup_mtc_multi_eef_cartesian.hpp
• setup_mtc_multi_eef_cartesian.cpp

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