SetupMTCSetCollisionRule Class

Append an MTC ModifyPlanningScene stage that allows or forbids collisions between two entities during MTC task execution. More...

Declaration

class moveit_pro::behaviors::SetupMTCSetCollisionRule { ... }

Included Headers

#include <setup_mtc_set_collision_rule.hpp>

Base class

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

Public Constructors Index

	SetupMTCSetCollisionRule (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	kPortIDNameA = "name_a"
static constexpr auto	kPortIDNameB = "name_b"
static constexpr auto	kPortIDAllowCollision = "allow_collision"

Description

Append an MTC ModifyPlanningScene stage that allows or forbids collisions between two entities during MTC task execution.

MTC stage equivalent of SetCollisionRule, providing one uniform string-based interface for collision rules between planning groups, collision objects, and robot links.

Each of name_a and name_b is resolved when the task is planned, against the planning scene the planner has built at this stage, as one of three categories: planning group, collision object id, and robot link. A planning group expands to its links with collision geometry; an ambiguous name (matches more than one category) fails planning, as does a name that matches none.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
name_a	Input	std::string
name_b	Input	std::string
allow_collision	Input	bool

Definition at line 36 of file setup_mtc_set_collision_rule.hpp.

Public Constructors

SetupMTCSetCollisionRule()

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

Declaration at line 44 of file setup_mtc_set_collision_rule.hpp, definition at line 57 of file setup_mtc_set_collision_rule.cpp.

Public Member Functions

tick()

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

Declaration at line 50 of file setup_mtc_set_collision_rule.hpp, definition at line 84 of file setup_mtc_set_collision_rule.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 48 of file setup_mtc_set_collision_rule.hpp, definition at line 79 of file setup_mtc_set_collision_rule.cpp.

providedPorts()

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

static

Declaration at line 47 of file setup_mtc_set_collision_rule.hpp, definition at line 63 of file setup_mtc_set_collision_rule.cpp.

Public Static Attributes

kPortIDAllowCollision

constexpr auto moveit_pro::behaviors::SetupMTCSetCollisionRule::kPortIDAllowCollision = "allow_collision"

constexpr static

Definition at line 42 of file setup_mtc_set_collision_rule.hpp.

kPortIDNameA

constexpr auto moveit_pro::behaviors::SetupMTCSetCollisionRule::kPortIDNameA = "name_a"

constexpr static

Definition at line 40 of file setup_mtc_set_collision_rule.hpp.

kPortIDNameB

constexpr auto moveit_pro::behaviors::SetupMTCSetCollisionRule::kPortIDNameB = "name_b"

constexpr static

Definition at line 41 of file setup_mtc_set_collision_rule.hpp.

kPortIDTask

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

constexpr static

Definition at line 39 of file setup_mtc_set_collision_rule.hpp.

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

• setup_mtc_set_collision_rule.hpp
• setup_mtc_set_collision_rule.cpp

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