SplitMTCSolution Class

Given an MTC Solution message and an index, create two new MTC Solution messages by splitting the subtrajectories of the input Solution at the specified index. Outputs the new Solutions onto output data ports. More...

Declaration

class moveit_pro::behaviors::SplitMTCSolution { ... }

Included Headers

#include <split_mtc_solution.hpp>

Base class

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

Public Constructors Index

	SplitMTCSolution (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 ()

Description

Given an MTC Solution message and an index, create two new MTC Solution messages by splitting the subtrajectories of the input Solution at the specified index. Outputs the new Solutions onto output data ports.

Data Port Name	Port Type	Object Type
solution_in	Input	moveit_task_constructor_msgs::msg::Solution
index	Input	std::size_t
solution_out_1	Output	moveit_task_constructor_msgs::msg::Solution
solution_out_2	Output	moveit_task_constructor_msgs::msg::Solution

Definition at line 58 of file split_mtc_solution.hpp.

Public Constructors

SplitMTCSolution()

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

Declaration at line 61 of file split_mtc_solution.hpp, definition at line 70 of file split_mtc_solution.cpp.

Public Member Functions

tick()

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

Declaration at line 68 of file split_mtc_solution.hpp, definition at line 95 of file split_mtc_solution.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 66 of file split_mtc_solution.hpp, definition at line 89 of file split_mtc_solution.cpp.

providedPorts()

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

static

Declaration at line 64 of file split_mtc_solution.hpp, definition at line 76 of file split_mtc_solution.cpp.

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

• split_mtc_solution.hpp
• split_mtc_solution.cpp

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