SetupMTCPlanToPose Class

Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose using the MoveIt Pro RRTConnect Planner. More...

Declaration

class moveit_pro::behaviors::SetupMTCPlanToPose { ... }

Included Headers

#include <setup_mtc_plan_to_pose.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override
	Synchronous, blocking function that must return SUCCESS/FAILURE every time this action node is ticked by the behavior tree. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Custom tree nodes that have input and/or output ports must define them in this static function. More...
static BT::KeyValueVector	metadata ()

Description

Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose using the MoveIt Pro RRTConnect Planner.

Data Port Name	Port Type	Object Type
ik_frame	Input	std::string
target_pose	Input	geometry_msgs::msg::PoseStamped
monitored_stage	Input	std::string
max_ik_solutions	Input	unsigned int
velocity_scale_factor	Input	double
acceleration_scale_factor	Input	double
max_iterations	Input	unsigned int
trajectory_sampling_rate	Input	unsigned int
link_padding	Input	double
seed	Input	int
planning_group_name	Input	std::string
orientation_constraint	Input	moveit_studio_msgs::msg::OrientationConstraint
joint_range_constraint	Input	moveit_studio_msgs::msg::JointRangeConstraint
optimization_params	Input	moveit_studio_msgs::msg::ProRRTOptimizationParams
joint_costs	Input	std::vector<double>
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>

Definition at line 44 of file setup_mtc_plan_to_pose.hpp.

Public Constructors

SetupMTCPlanToPose()

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

Constructor for GetLatestTransform behavior.

Parameters

name	Name of the node. Must match the name used for this node in the behavior tree definition file (the .xml file).
config	Node configuration. Only used here because the BehaviorTree.CPP expects constructor signature with name and config first before custom constructor parameters.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_pro::behaviors::SharedResourcesNode.

Declaration at line 58 of file setup_mtc_plan_to_pose.hpp, definition at line 42 of file setup_mtc_plan_to_pose.cpp.

Public Member Functions

tick()

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

Synchronous, blocking function that must return SUCCESS/FAILURE every time this action node is ticked by the behavior tree.

Returns

Status of the node. Must be either SUCCESS/FAILURE (the node is "complete" for now). Cannot be RUNNING since this is a synchronous node.

Declaration at line 79 of file setup_mtc_plan_to_pose.hpp, definition at line 69 of file setup_mtc_plan_to_pose.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 71 of file setup_mtc_plan_to_pose.hpp, definition at line 63 of file setup_mtc_plan_to_pose.cpp.

providedPorts()

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

static

Custom tree nodes that have input and/or output ports must define them in this static function.

This function must be static. It is a requirement set by the BehaviorTree.CPP library.

Returns

List of ports with the names and port info. The return value is for the internal use of the behavior tree.

Declaration at line 69 of file setup_mtc_plan_to_pose.hpp, definition at line 48 of file setup_mtc_plan_to_pose.cpp.

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

• setup_mtc_plan_to_pose.hpp
• setup_mtc_plan_to_pose.cpp

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