SetupMTCPathIK Class

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

Declaration

class moveit_pro::behaviors::SetupMTCPathIK { ... }

Included Headers

#include <setup_mtc_path_ik.hpp>

Base class

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

Public Constructors Index

	SetupMTCPathIK (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 = "Path IK"
static constexpr auto	kPortIdTask = "task"
static constexpr auto	kPortIdIgnoreEnvironmentCollisions = "ignore_environment_collisions"

Description

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

This Behavior sets up a MoveIt Task Constructor (MTC) Path IK stage, which computes a joint-space trajectory to follow the specified path in Cartesian space. The path is defined as a vector of PoseStamped messages, which can be in any frame known to the robot's URDF. The stage is configured with the specified planning group, IK frame, and other parameters.

Data Port Name	Port Type	Object Type
task	bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
path	input	std::vector<geometry_msgs::msg::PoseStamped>
planning_group_name	input	std::string
tip_links	input	std::vector<std::string>
tip_offset	input	std::vector<double>
position_only	input	bool (deprecated)
cartesian_constraint	input	moveit_studio_msgs::msg::CartesianConstraint
blending_radius	input	double
ik_cartesian_space_density	input	double
ik_joint_space_density	input	double
velocity_scale_factor	input	double
acceleration_scale_factor	input	double
trajectory_sampling_rate	input	unsigned int
max_optimizer_iterations	input	int
ignore_environment_collisions	input	bool

Definition at line 44 of file setup_mtc_path_ik.hpp.

Public Constructors

SetupMTCPathIK()

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

Declaration at line 54 of file setup_mtc_path_ik.hpp, definition at line 34 of file setup_mtc_path_ik.cpp.

Public Member Functions

tick()

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

Declaration at line 61 of file setup_mtc_path_ik.hpp, definition at line 62 of file setup_mtc_path_ik.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 59 of file setup_mtc_path_ik.hpp, definition at line 56 of file setup_mtc_path_ik.cpp.

providedPorts()

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

static

Declaration at line 57 of file setup_mtc_path_ik.hpp, definition at line 40 of file setup_mtc_path_ik.cpp.

Public Static Attributes

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCPathIK::kDefaultStageName = "Path IK"

constexpr static

Definition at line 48 of file setup_mtc_path_ik.hpp.

kPortIdIgnoreEnvironmentCollisions

constexpr auto moveit_pro::behaviors::SetupMTCPathIK::kPortIdIgnoreEnvironmentCollisions = "ignore_environment_collisions"

constexpr static

Definition at line 52 of file setup_mtc_path_ik.hpp.

kPortIdTask

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

constexpr static

Definition at line 51 of file setup_mtc_path_ik.hpp.

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

• setup_mtc_path_ik.hpp
• setup_mtc_path_ik.cpp

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