SetupMTCRemoveCollisionObject Class

Append an MTC ModifyPlanningScene stage that removes a collision object from the planning scene during MTC task execution. More...

Declaration

class moveit_pro::behaviors::SetupMTCRemoveCollisionObject { ... }

Included Headers

#include <setup_mtc_remove_collision_object.hpp>

Base class

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

Public Constructors Index

	SetupMTCRemoveCollisionObject (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	kPortIDTask = "task"
static constexpr auto	kPortIDObjectId = "object_id"

Description

Append an MTC ModifyPlanningScene stage that removes a collision object from the planning scene during MTC task execution.

MTC stage equivalent of RemoveCollisionObject. The Behavior only appends the stage at Behavior-tick time; the scene change happens later, when MTC's planner executes the task. Removing an id that is absent from the world is a successful no-op. Removing an id currently attached to the robot fails planning (detach it first). Validation runs at plan time against the MTC pipeline scene, not the live scene.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
object_id	Input	std::string

Definition at line 31 of file setup_mtc_remove_collision_object.hpp.

Public Constructors

SetupMTCRemoveCollisionObject()

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

Declaration at line 37 of file setup_mtc_remove_collision_object.hpp, definition at line 32 of file setup_mtc_remove_collision_object.cpp.

Public Member Functions

tick()

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

Declaration at line 43 of file setup_mtc_remove_collision_object.hpp, definition at line 53 of file setup_mtc_remove_collision_object.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 41 of file setup_mtc_remove_collision_object.hpp, definition at line 48 of file setup_mtc_remove_collision_object.cpp.

providedPorts()

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

static

Declaration at line 40 of file setup_mtc_remove_collision_object.hpp, definition at line 39 of file setup_mtc_remove_collision_object.cpp.

Public Static Attributes

kPortIDObjectId

constexpr auto moveit_pro::behaviors::SetupMTCRemoveCollisionObject::kPortIDObjectId = "object_id"

constexpr static

Definition at line 35 of file setup_mtc_remove_collision_object.hpp.

kPortIDTask

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

constexpr static

Definition at line 34 of file setup_mtc_remove_collision_object.hpp.

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

• setup_mtc_remove_collision_object.hpp
• setup_mtc_remove_collision_object.cpp

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