Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 1234]

▼Ncartesian_planning
CCollisionCheckOptions	Contains options for path collision checking
CErrorType
CPathCollisionInfo	Struct to hold information about path collisions
CPathIKOptions
▼Nhash_utils
CStringHash
▼Nmoveit
►Ntask_constructor
►Nstages
CGeneratePoses
▼Nmoveit_pro_controllers
CAdmittance
CAdmittanceKinematics
CAdmittanceParameters
CAdmittanceState
CControllerWithRobotModel
CIOController
CJointTrajectoryAdmittanceController
CJointTrajectoryAdmittanceControllerCommand
CJointVelocityController
CJointVelocityParameters
►CJointVelocitySetpointGenerator
CState
CRealtimeTriggerServiceMonitor
CRobotTestFixture
CRobotTestFixtureInvalidParams
CSecondOrderButterworthFilter
CStopTrajectory
CTrajectorySampler
CUtilizedInterfaces
CVelocityForceController
CVelocityForceParameters
►CVelocityForceSetpointGenerator
CState
▼Nmoveit_pro_py
►Nplanners
CPlanningErrorException
CMessageError
▼Nmoveit_studio
►Nbehavior
CLoggerBase	Base class to allow Behaviors to report messages with detailed explanations to MoveIt Studio UI
CLoggerROS	A ROS-specialized implementation of LoggerBase that publishes the error message on a topic and logs it through an rclcpp Logger
►Nbehaviors
►Ninternal
CMPCBehaviorBase	All non-template implementation for the templated MPCBehaviorBase class
►CActionClientBehaviorBase	A base class for behaviors which need to send a goal to a ROS action client and wait for a result. If the behavior is halted before the action result is received, the action goal will be canceled
CClientInterfaceBase	Provides an interface to an action client that can handle a single goal at a time
CRclcppClientInterface	Implements ClientInterfaceBase for the rclcpp action client
CActivateControllers	Activate controllers, whose names are set by the "controller_names" parameter
CAddPointCloudToVector	Appends a point cloud to a vector of point clouds
CAddSubframeToObject	Annotates an input GraspableObject with an input Pose and Pose ID
CAddTool	This Behavior sends a request to add a tool to the planning scene as a collision object
CAddToVector	Template for a behavior that pushes an object into a vector and sets the updated vector to the blackboard
CAddURDF	This Behavior sends a request to add a URDF object to the planning scene as a collision object
CAddVirtualObjectToPlanningScene	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a virtual collision object to the planning scene. A virtual collision object is only forbidden to collide with the robot
CAdjustPoseWithIMarker	Requests a user to manually adjust a collection of poses using interactive markers in the UI
CAppendOrientationConstraint	Appends an orientation constraint (based on the values specified in the input port's yaml file) to an existing constraints message
CAsyncBehaviorBase	A base class for behaviors which need to asynchronously run a function that might take a long time to complete
CAttachTool	This Behavior sends a request to attach a tool to a robot for motion planning purposes
CAttachURDF	This Behavior sends a request to attach a URDF object to a robot for motion planning purposes
CAveragePoseStamped	This Behavior calculates the running average of incoming Pose Stamped ROS messages
CAveragePoseStampedVector	Returns the average PoseStamped from a vector of PoseStamped
CBaseTrajectoryExecutor	Base class for trajectory execution implementations
CBehaviorContext	The BehaviorContext struct contains shared resources that are common between all instances of Behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode
CBiasedCoinFlip	Simulates flipping a biased coin with the specified probability of success provided via the input port
CBreakpointSubscriber	A behavior that subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an objective
CCalculatePoseOffset	Calculates the offset transform from source_pose to destination_pose. This can be used to measure the distance between two poses and returns the result relative to the source_pose
CCalibrateCameraPose	Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector
CCallTriggerService	Call a service that accepts a std_srvs/srv/Trigger message. The name of the service is set through the "service_name" parameter
CCheckCuboidSimilarity	Check if two GraspableObjects are similar within some tolerance
CClearSnapshot	Sends a request to clear the existing Octomap and Pointcloud snapshots
CClientInterfaceBase	Provides an interface to a service client that can send a single request at a time. WARNING - This class currently does not support calling syncSendRequest function asynchronously from multiple threads
CClockInterfaceBase	A base class which provides an interface for retrieving timepoints from a monotonic clock
CComputeInverseKinematics	A Behavior to compute the inverse kinematics for a given set of target poses
►CComputeLinkPoseForwardKinematics	This Behavior computes the Cartesian Pose of a link from a given Joint State. If the Joint State message does not contain all of the joints for calculating the pose, it will use the existing joint states for the missing joint states
CInfoAndWarnings
CComputePathToPoseAction	Calls an action server that uses nav2_msgs::action::ComputePathToPose and outputs feedback The ComputePathToPose action (ROS 2 Humble) returns a nav_msgs/Path path and builtin_interfaces/Duration planning_time
CComputeVelocityToAlignWithTarget	Calculates a control velocity that is a sum of the target velocity and a catchup velocity. The target motion state can be offset from the incoming motion state message. The returned control velocity is designed to be sent to the velocity_force_controller
CConvertMtcSolutionToJointTrajectory	Converts a MoveIt Task Constructor Solution into a JointTrajectory
CConvertTransformStampedToPoseStamped	Converts a geometry_msgs::msg::TransformStamped message into a geometry_msgs::msg::PoseStamped message
CCoreBehaviorsLoader
CCreateCollisionObjectFromSolidPrimitive	Creates a CollisionObject from a SolidPrimitive, pose, and object ID
CCreateCollisionSpheresAtClosestPoints	This behavior receives point cloud data, filters points inside a cylinder around a reference point, and creates a sphere at each of the closest points within the cylinder. The spheres are returned as a moveit_msgs::msg::CollisionObject message
CCreateGraspableObject
CCreateJointState	Create a sensor_msgs::msg::JointState and writes it to the Blackboard
CCreateSolidPrimitiveBox	Creates a box-shaped SolidPrimitive from input dimensions for use with CollisionObjects
CCreateStampedPose	Create a geometry_msgs::msg::PoseStamped and writes it to the Blackboard
CCreateStampedTwist	Create a geometry_msgs::msg::TwistStamped and writes it to the Blackboard
CCreateStampedWrench	Create a geometry_msgs::msg::WrenchStamped and writes it to the Blackboard
CCreateStationaryTrajectory	This behavior creates a stationary trajectory of specified duration at the provided JointState ROS message
CCropOrRemovePointsInBox
CCropPointsInSphere	Given a point cloud and a sphere-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid
CCropPosesInBox	Given a vector of poses and a box-shaped region of interest, create a new vector of poses which contains only the poses that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid
CDetachOrRemoveTool	This Behavior sends a request to detach a tool from a robot or remove it from the planning scene
CDetachOrRemoveURDF	Base class for behaviors that detach URDF objects from a robot or remove them from the planning scene
CDetachURDF	This Behavior detaches a URDF object from the robot
CDetectAprilTags	Detects AprilTag markers from an image
CDiffusionPolicy	Behavior for executing a pretrained diffusion policy in MoveIt Pro
CDiffusionPolicyInterface
CDoTeleoperateAction	Starts teleoperation by sending a goal to the teleoperation action server in the web UI
CEditWaypoint	Use the /edit_waypoints service to save the robot's current state as a new named waypoint or erase an existing waypoint. The name of the waypoint to save or delete is set through the "waypoint_name" behavior parameter. The operation to perform on the waypoint is set through the "waypoint_operation" behavior parameter, which must be set to either "save" or "erase"
CExecuteFollowJointTrajectory	Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to the specified FollowJointTrajectory action server
CExecuteMTCSolution	Execute each joint trajectory contained in an MTC solution by sending sequential goals to a JTAC or JTC-like controller, depending on the value of execution_pipeline. After each subtrajectory succeeds, apply the corresponding planning scene diff so that scene updates from the MTC task persist
CExecuteMTCTask	Takes an MTC Solution message via an input data port, and executes the lowest-cost trajectory in that Solution using the MTC ExecuteTaskSolution MoveGroup capability's /execute_task_solution action server
CExecuteTrajectoryWithAdmittance	Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to a Joint Trajectory With Admittance controller (JTAC)
CExtractGraspableObjectPose	Changes an input GraspableObject into a PoseStamped by getting its pose and its ID
CFindMaskedObjects	Finds objects by segmenting a point cloud using a set of 2D mask images
CFindSingularCuboids	Finds well-singulated cuboids supported by a surface within a point cloud
CFitLineSegmentToMask3D	Finds the line segment that best fits a point cloud fragment
CFollowPathAction	Calls an action server that uses nav2_msgs::action::FollowPath and outputs feedback. The FollowPath action (ROS 2 Humble) does not return a result
CForceExceedsThreshold	Monitors wrench messages published to topic, and returns SUCCESS if the magnitude of the wrench measurements exceeds a force threshold for a minimum number of consecutive readings
CForEach	A class for creating a behavior tree decorator node to iterate through a vector of items
CForEachUntilSuccess	A decorator node that iterates through a vector of items, stopping on first successful child node tick
CGenerateCoveragePath	Creates a zig-zag path for a robot end-effector to follow, to cover a given area
CGenerateCuboidGraspPoses	Given a target GraspableObject and planning details about the arm, generate grasp poses
CGenerateObjectsInBox
CGeneratePointToPointTrajectory	Generate a joint-space point-to-point trajectory to move the robot from the start joint state to the target joint state
CGenerateVacuumGraspPoses	Given a target GraspableObject and planning details about the arm, generate grasp poses
CGetCameraInfo	Capture camera information. The name of the topic containing the camera information is set through the "topic_name" parameter, and the resulting information is available on the "message_out" output port
CGetCenterFromMask2D	Given a mask, compute the centroid and write the point to the blackboard
CGetCentroidFromPointCloud	Given an input point cloud, estimates the cloud centroid using pcl::compute3DCentroid and outputs that as a pose stamped with the same header as the point cloud
CGetClosestObjectToPose	Given a collection of GraspableObjects, find the one that's closest to the provided pose
CGetContourFromPointCloudSlice	Extracts contours from a point cloud slice
CGetCurrentPlanningScene	Get the current planning scene state from the MoveIt PlanningSceneMonitor via service request
CGetDetectionPose	Gets the stamped pose of an object detection given a label or ID, if one exists
CGetElementOfVector	Get the element of a vector at the given index
CGetFilePathsFromDirectory	Get all filenames in a given directory (optionally with a specific file extension)
CGetGraspableObjectsFromMasks3D	Finds objects in point cloud segments represented by 3D masks
CGetGraspAndTwistSubframes	Given an input PoseStamped representing a grasp pose selected on an object, get the three Subframes that define a Grasp Screw Motion (grab and twist about an axis) where the object is grabbed and rotated by grasp_rotation_z_radians amount
►CGetGraspPoseFromPointCloud	Infer a parallel jaw grasp pose from point cloud of an object. Details of the machine learning model can be seen at https://github.com/antoalli/L2G The point cloud of the object to grasp is given through point_cloud. No inference of what the point cloud represents is done, nor any notion of collision checking. Only the points of the object to be grasped should be given. The point cloud should approximately fit in a 0.22 meter cube. number_of_grasps_to_return is a simple clamping and the model is always inferring a fixed number, which is about 50. model_path locates the .onnx file of the model weights. If model_package is specified, model_path will be assumed relative to its directory. grasps are the poses of the closed end effector tip. They are not sorted by quality and require feasibility and collision checking
CInferenceHandle	Allows different models to be used with behavior
CL2GHandle	Uses L2G for grasp inference
CGetImage	Capture an image. The name of the topic containing the image is set through the "topic_name" parameter, and the resulting image is available on the "message_out" output port
CGetLatestTransform	Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior
►CGetMasks2DAutomask	Segment an image using SAM2 automasking with grid-based point generation
CInferenceHandle	Interface for SAM2 automasking inference
CSAM2AutomaskHandle	Default implementation using SAM2Automasking
CGetMasks2DFromPointQuery	Segment an image using the SAM 2 model and point prompts
CGetMasks2DFromPointQueryInterface
CGetMasks2DFromTextQuery	Segment an image using the ClipSeg model
CGetMasks2DFromTextQueryInterface
CGetMasks3DFromMasks2D	Backprojects a number of image masks onto a point cloud with a camera model
CGetMeshNormalPoses	Gets the normal vectors for a given mesh and returns the normal vector poses to the caller
CGetMessageFromTopicBehaviorBase	Base class for Behaviors that get the latest message from a topic specified on an input data port and set that message to an output data port
CGetMoveAlongArcSubframes	Given a PoseStamped for a grasp pose, and a vector of two PoseStampeds for the axis of the arc, calculates the subframes needed for motion along an arc. The arc radius is the distance between the grasp point and the arc (hinge) axis
CGetOdom	Subscribes to an odometry message and stores it on the blackboard
CGetOrientedBoundingBoxFromPointCloud	Given an input point cloud, finds the oriented bounding box (OBB) using pcl::MomentOfInertiaEstimation and outputs that as a center pose and box dimensions. The OBB orientation is disambiguated by choosing the orientation closest to the reference_pose
CGetPointCloud	Capture a point cloud. The name of the topic containing the point cloud is set through the "topic_name" parameter, and the resulting point cloud is available on the "message_out" output port
CGetPointCloudFromMask3D	Gets the fragment of a point cloud for a 3D mask
CGetPointsFromUser	Requests a set of named points from the user by switching the view and displaying a sequence of prompts in the UI
CGetPoseFromPixelCoords	Given an ordered point cloud and normalized pixel XY coordinates, outputs a stamped pose corresponding to a point normal to the selected coordinates
CGetPoseFromUser	Sends a service request to the UI so that the user can click in the UI and return a pose
CGetRobotJointState	This behavior extracts a ROS sensor_msgs/JointState message from a a planning scene object
CGetSizeOfVector	Get the size of a vector
CGetSyncedImageAndPointCloud	Get data from time-synchronized image and point cloud topics and populate them in output ports
CGetSyncedImages	Get data from time-synchronized image topics and populate them in output ports
CGetTextFromUser	Gets text from user by sending a list of prompts with default values for each prompt
CGetTrajectoryStateAtTime	Get the JointState of a JointTrajectory at a specified time
CInitializeMotionConstraints	Creates a shared pointer to a new moveit_msgs::msg::Constraints and writes it to the Blackboard
CInitializeMTCTask	Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the names of controllers to enable by default when executing trajectories planned by this Task), and sets it as an output data port
CInsertInVector	Insert an element into a vector at the given index
CIsAnyObjectAttached	This Behavior checks a PlanningScene to determine if any object is attached to the robot. Returns SUCCESS if there is an attached CollisionObject, FAILURE otherwise
CIsCollisionObjectInPlanningScene	Checks a PlanningScene to see if a CollisionObject with a specific ID exists. Returns SUCCESS if the CollisionObject is found, FAILURE otherwise
CIsObjectAttachedTo
CIsPoseNearIdentity	Returns SUCCESS if the pose is within the position and rotation tolerances of the identity pose. Useful for evaluating an error pose
CIsUserAvailable	Checks for the presence of a user interface by checking if the /trajectory_bridge ROS node exists
CIsVisibilityConstraintSatisfied	Check if the robot's current state satisfies a visibility kinematic constraint relative to an object
CJointJog	A Behavior to forward JointJog commands to a Joint Velocity Controller
CJTACTrajectoryExecutor	JTAC-specific trajectory execution pipeline implementation
CLoadFromYaml	Loads a type from a YAML file, and returns it in an output port
CLoadImageFromFile	Loads an image from a file and writes it to an output data port
CLoadMultipleFromYaml	Loads types from a YAML file, and returns them as a vector in an output port
CLoadObjectiveParameters	Loads the configuration parameters for a given objective. The configuration file name is given as an input port parameters to this behavior. The parameters are loaded once per objective execution. To reload the parameter from the file, just execute the objective again
CLoadPointCloudFromFile	Loads a point cloud from a .pcd or .stl file, optionally recolors it, and writes it to an output data port
CLogMessage	Logs a user specified message via the LoggerROS class. ROS 2 log severity of message specified by log_level
CMergePointClouds	Merges a number of input point clouds into a single one
CModifyObjectInPlanningScene	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a collision object representing a GraspableObject to the planning scene
CMoveGripperAction	Actuate a gripper through its driver node's GripperCommand action. Given the name of the action topic and a target gripper position, move the gripper to the specified position
CMPCBehaviorBase	A base class for behaviors to help set up and execute MPC
CMPCBehaviorsLoader
CMPCPointCloudClearance	Avoid a point cloud using MPC
CMPCPoseTracking	Track a moving pose using MPC
CMPCSphereClearance	Avoid collision object spheres using MPC
CMTCCoreBehaviorsLoader
CMTCTaskSetupBehaviorsLoader
CMujocoBehaviorsLoader	Plugin loader for MuJoCo-related behaviors
CNavBehaviorsLoader
CNavigateThroughPosesAction	Calls an action server that uses nav2_msgs::action::NavigateThroughPoses and outputs feedback The NavigateThroughPoses action (ROS 2 Humble) does not produce a result
CNavigateToPoseAction	Calls an action server that uses nav2_msgs::action::NavigateToPose and outputs feedback The NavigateToPose action (ROS 2 Humble) does not produce a result
CObjectWithDistance	Associates a GraspableObject with a distance metric
CPlanCartesianPath	Given a Cartesian-space path, plan a joint-space trajectory to move the robot tip(s) along the path
CPlanMTCTask	Takes a shared pointer to an existing MTC Task object via an input data port, plans the Task, and sets the solution with the lowest overall cost as an output data port. A service client sends over all the solutions to the MTC Solution Manager node which can be used for debugging
CPlanToJointGoal	Given a joint-space goal, plan a joint-space trajectory to reach the goal
CPoseJog	A Behavior to protect a robot from collisions when using the MoveIt Pro Velocity Force Controller (VFC)
CPublishEmpty	Publish a std_msgs::msg::Empty message to a topic
CPublisherInterfaceBase	Defines an interface to a publisher that sends a message to a topic
CPublishMarkers	Publishes a set of markers to the UI for visualization
CPublishMask2D	Publishes a masks visualization to topic
CPublishPointCloud	Publish a point cloud
CPublishStaticFrame	Publishes a static transform into the tf2 buffer
CPublishString	Publish a std_msgs::msg::String message to a topic
CPublishVelocityForceCommand	Publishes a static transform into the tf2 buffer
CPushBackVector	Append an element to the back of a vector
CPushToSolutionQueue	Push a new MTC solution to the solution queue
CRclcppClientInterface	Implements ClientInterfaceBase for the rclcpp service client
CRclcppPublisherInterface	Implementation of the publisher interface for a rclcpp publisher
CRclcppSubscriberInterface	Implementation of the subscriber interface using rclcpp subscription
CReadTextFileAsString	Read the contents of a text file and output the contents as a std::string
CRecordJointTrajectory	Record a JointTrajectory message by subscribing to a topic publishing joint states and pushing the joint states to a JointTrajectory message
CRegisterPointClouds	Registers a target point cloud to a base point cloud and outputs the pose of the target point cloud relative to the origin of the base point cloud which aligns the target cloud with the base cloud
CRemoveCollisionObjectFromPlanningScene	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to remove a collision object from the planning scene. The CollisionObject that has an ID that matches object_id has its operation field set to REMOVE. If there is no CollisionObject with object_id, the behavior returns an error
CRemoveFromVector	Remove an element from a vector at the given index
CRemoveURDFFromScene	This Behavior removes a URDF object from the planning scene
CReplaceInVector	Replace an element in a vector at the given index
CResetMujocoKeyframe	Resets the MuJoCo simulation to a specified keyframe
CResetPlanningSceneObjects	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to remove all objects which were added to the planning scene, including objects that are attached to the robot
CResetVector	Create an empty vector and set it to the blackboard
CRetrieveJointStateParameter	Retrieves a joint state from the MoveIt Pro parameter manager node
CRetrievePoseParameter	Retrieves a stamped pose from the MoveIt Pro parameter manager node
CRetrieveWaypoint	Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint
CReverseVector	Reverses the order of elements in a vector and sets the reversed vector to the blackboard
CROSPublisherHandle
CSaveCurrentState	Use the /get_planning_scene service from move_group to save the robot's current state
CSaveImageToFile	Save an image to disk as a .png file. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.png
CSavePointCloudToFile	Save a point cloud .pcd file to disk. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd
CSavePoseForUrdf	Saves a PoseStamped in xyz rpy URDF format to file
CSaveToYaml	Save the contents of a ROS 2 message type to a YAML file in a specified namespace. Note: This Behavior template saves the pose into the ~/.config/moveit_pro/robot_config/objectives folder
CSendMessageToTopicBehaviorBase	Base class for Behaviors that send a message to a topic. The message contents and topic name are specified as input ports
CSendPointCloudToUI	Crop and filter a point cloud using MoveIt's sensor configuration, then publish it to a topic monitored by the UI
CServiceClientBehaviorBase	A base class for behaviors which need to send a request to a ROS service client and wait for a result
CServoBehaviorsLoader
CServoTowardsPose	Move the tip at a velocity in closed loop towards a Cartesian target_pose, using Servo
CSetAdmittanceParameters	Sets admittance parameters to be used in the 'ExecuteTrajectoryWithAdmittance' Behavior
CSetupMTCApproachGrasp	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to approach the object
CSetupMTCAttachObject	Add an MTC Stage to an MTC Task that attaches an object to the named robot frame
CSetupMTCAttachOrDetachObject	This is the base class for SetupMTCAttachObject and SetupMTCDetachObject
CSetupMTCBatchPoseIK	Given an existing MTC Task object and a vector of poses, appends an MTC stage to compute IK solutions.
CSetupMTCCartesianMoveToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a cartesian motion plan to that joint state
CSetupMTCCartesianSequence	Given an existing MTC Task object and a sequence of target poses, appends MTC stages to plan a sequence of cartesian motions between the poses
CSetupMTCConnectWithProRRT	Append a MTC stage to connect the end state of the previous stage with the start state of the next stage using a freespace trajectory with the ProRRT planner
CSetupMTCConnectWithTrajectory	Append a MTC stage to connect the end state of the previous stage with the start state of the next stage using a freespace trajectory
CSetupMTCCurrentState	Given an existing MTC Task object, appends an MTC CurrentState Stage to the Task
CSetupMTCDetachObject	Add an MTC Stage to an MTC Task that detaches an object from the named robot frame
CSetupMTCFixedJointState	Given an existing MTC Task object, appends an MTC FixedState Stage to the Task
CSetupMTCFromSolution	Given an existing MTC Task object, appends an MTC Stage to the Task that initializes it with the final planning scene of a given solution
CSetupMTCGenerateCuboidGrasps	Given an existing MTC Task object and a target object, appends MTC stages to generate cuboid grasp poses
CSetupMTCGenerateVacuumGrasps	Given an existing MTC Task object and a target object, appends MTC stages to generate vacuum grasp poses on its planar surfaces
CSetupMTCIgnoreCollisionsBetweenObjects	Given an MTC Task, append an MTC Stage that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a set of objects while planning subsequent Stages
CSetupMTCInterpolateToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a joint-interpolated motion plan to that joint state
CSetupMTCMoveAlongFrameAxis	Given an existing MTC Task object, append a MTC MoveRelative stage to perform a cartesian motion along an axis
CSetupMTCMoveToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a freespace motion plan to that joint state
CSetupMTCMoveToNamedState	Given an existing MTC Task object and the name of a known state, appends MTC stages to describe a freespace motion plan to that state
CSetupMTCMoveToPose	Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose
CSetupMTCMultiEEFMoveAlongAxis	Adds a dual cartesian motion stage to a MoveIt Task Constructor task
CSetupMTCPathIK	Given an existing MTC Task object, append a stage to perform a cartesian motion along a given path
CSetupMTCPlanToJointState	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
CSetupMTCPlanToPose	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
CSetupMTCRetractFromGrasp	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to retract after grasping the object
CSetupMTCUpdateGroupCollisionRule	Given an MTC Task, append an MTC Stage that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a planning scene object and the links of a named robot planning group while planning subsequent Stages
CSetupMTCUpdateObjectCollisionRule	Add an MTC Stage to an MTC Task that makes following stages either allow or prohibit collision between a GraspableObject and another entity. The other entity can be either a named collision object in the planning scene or the links of a named robot planning group
CSharedResourcesNode	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node
CSharedResourcesNodeLoaderBase	Base class for Behavior loader plugins that register Behaviors inheriting from SharedResourcesNode
CSolveIKQueries
CSplitMTCSolution	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
CStandardTrajectoryExecutor	Standard trajectory execution (e.g. JTC) pipeline implementation
CSteadyClockInterface	Implementation of ClockInterfaceBase for std::chrono::steady_clock
CStopwatchBegin	Saves the current epoch time as a timepoint to a data port
CStopwatchEnd	Measure the difference between an input timepoint and the current timepoint, and emit a log message which states the time elapsed
CStringToInt	Converts a string to an int
CSubscriberInterface	Interface for subscribers that can block while waiting for a message to be received on a topic
CSwitchController	A Behavior to call the ros2_control switch_controllers service to activate/deactivate controllers
CSwitchUIPrimaryView	Switches the primary view in the MoveIt Studio Developer Tool
CTeleoperateBase	This is a special Behavior to enable manual teleoperation using MoveIt Servo through the Objective Server
CTeleoperateJointJog	Specialization of TeleoperateBase for joint jog commands
CTeleoperateTwist	Specialization of TeleoperateBase for Cartesian twist commands
CTrajectoryExecutionPipeline	Abstract interface for trajectory execution pipelines
CTransformPointCloud	Transforms a point cloud given an input pose in the same frame as the point cloud
CTransformPointCloudFrame	Transforms a point cloud to a target coordinate frame
CTransformPose	Transforms a stamped pose given an input translation and orientation
CTransformPoseFrame	Transforms the reference frame of an input stamped pose to the frame specified by a frame ID, along with the position/orientation transformation that entails
CTransformPoseFromYaml	Transforms a stamped pose given an input yaml file that contains the translation and orientation that should be applied to the input. NOTE: The pose_parameters port is normally provided by a LoadObjectiveParameter Behavior
CTransformPoseWithPose	Transforms an input stamped pose with the transform specified by another stamped pose
CUpdatePlanningSceneService	Uses the service advertised by the PointCloudServiceOctomapUpdater plugin to apply a point cloud to the planning scene collision octomap and wait until the update has been applied
CValidateTrajectory	Checks if a joint trajectory is valid, given a PlanningScene
CVisionBehaviorsLoader
CVisualizeMesh	Publishes a marker that contains a mesh path to the UI for visualization
CVisualizePath	Publishes a marker array that contains a polyline representing a path
CVisualizePose	Publishes a visualization marker that contains three lines composing a coordinate frame
CWaitAndPopSolutionQueue	Pops the MTC solution queue to get the next solution to be processed
CWaitForDuration	Wait for a specified duration before succeeding
CWaitForUserPathApproval	Sends a service request to the UI to accept or reject a visualized nav_msgs::msg::Path
►CWaitForUserTrajectoryApproval	Takes an MTC Solution message via an input data port, and publishes it to the /preview_solution topic. Creates a SetBool service server on the /execute_behavior_solution topic and waits to receive a request containing data: true before succeeding. Visualizes the cartesian path for each valid input link name with a green line while waiting
CLinkPath
CWhichObjectIsAttached	Checks a PlanningScene to determine if an object is attached from a given vector of object names
CWriteCalibratedPoseToYaml	Write pose (x,y,z, roll, pitch, yaw) to YAML file. This behavior is meant to be called after the Calibrate Pose Action. TODO: Make this behavior more generic. Note: The behavior saves the calibrated_pose into the ~/.config/moveit_pro/calibration folder
►Ntest_utils
CWithActionBehavior
CWithBehavior	Adds testing capabilities of Behaviors with context to any test fixture
CWithBehaviorWithoutContext	Adds testing capabilities of Behaviors without context to any test fixture
CWrongBehaviorPortsException	Exception thrown by Behavior testing classes when the Behavior does not define exactly the expected ports
▼Npath_ik
CPartialPathError
▼Npose_ik
CPoseTarget
▼Npose_ik_plugin
CPoseIKPlugin	PickNik's implementation of a kinematics solver using MoveIt! native types
▼Npro_rrt
CConstraints	Definition of kinematic constraints to take into account during planning
CJointRangeConstraint
CPlanarRotationConstraint
CPlanningError	Definition of planning error return type with a string and optional collision results
CPlanningTestFixture
CRRTParams	Configuration parameters for the RRT planner
CTrajectoryParams	Parameters for the trajectory generation
▼Npybind11
►Ndetail
Ctype_caster< Eigen::Isometry3d >	Custom type caster for Eigen::Isometry3d
▼Ntest_mtc_cartesian_planner
CTestMTCCartesianPlanner
▼Ntest_mtc_path_ik
CTestPathIK
▼Ntest_mtc_prorrt
CTestProRRTPlanner
▼Ntest_path_ik_wrapper
CTestPartialPathError
CTestPathIK
▼Ntest_pose_ik
CTestIKParams
CTestImports
CTestPoseTarget
CTestSolveIK
▼NYAML
Cconvert< AdmittanceControllerParams >	Utility to decode YAML node as an AdmittanceControllerParams struct
Cconvert< OrientationConstraintParams >	Utility to decode YAML node as an OrientationConstraintParams struct
CAdmittanceControllerParams	Struct representing admittance controller parameters
CAllocations
CCallbackInfo
COrientationConstraintParams	Struct representing orientation constraint params
COriginalFunctions
CSplineOptimizationParameters
CSplineTrajectory	SplineTrajectory fits piecewise splines to target positions by minimizing a specified cost function via convex optimization. The constructor sets up all the memory needed for running the optimization in the fit function and querying new points using the evaluate function