SetupMTCPlanToRobotState Class

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

Declaration

class moveit_pro::behaviors::SetupMTCPlanToRobotState { ... }

Included Headers

#include <setup_mtc_plan_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

	SetupMTCPlanToRobotState (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SetupMTCPlanToRobotState 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 = "plan to joint state pro rrt"

Description

Given an existing MTC Task object and a joint state, appends MTC stages to describe a freespace motion plan to that joint state using the MoveIt Pro RRTConnect planner.

Data Port Name	Port Type	Object Type
planning_group_name	Input	std::string
joint_state	Input	moveit_msgs::msg::RobotState
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
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 40 of file setup_mtc_plan_to_robot_state.hpp.

Public Constructors

SetupMTCPlanToRobotState()

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

Constructor for SetupMTCPlanToRobotState behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Declaration at line 52 of file setup_mtc_plan_to_robot_state.hpp, definition at line 40 of file setup_mtc_plan_to_robot_state.cpp.

Public Member Functions

tick()

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

Declaration at line 59 of file setup_mtc_plan_to_robot_state.hpp, definition at line 63 of file setup_mtc_plan_to_robot_state.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 57 of file setup_mtc_plan_to_robot_state.hpp, definition at line 57 of file setup_mtc_plan_to_robot_state.cpp.

providedPorts()

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

static

Declaration at line 55 of file setup_mtc_plan_to_robot_state.hpp, definition at line 46 of file setup_mtc_plan_to_robot_state.cpp.

Public Static Attributes

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCPlanToRobotState::kDefaultStageName = "plan to joint state pro rrt"

constexpr static

Definition at line 44 of file setup_mtc_plan_to_robot_state.hpp.

---

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

• setup_mtc_plan_to_robot_state.hpp
• setup_mtc_plan_to_robot_state.cpp

---

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.