attach_object.cpp File Reference

#include <moveit_pro_behavior/behaviors/core/attach_object.hpp>
#include <algorithm>
#include <cstdint>
#include <utility>
#include <vector>
#include <fmt/format.h>
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/transform.hpp>
#include <moveit_msgs/msg/attached_collision_object.hpp>
#include <moveit_msgs/msg/collision_object.hpp>
#include <moveit_msgs/msg/planning_scene_components.hpp>
#include <moveit_pro_behavior_interface/get_required_ports.hpp>
#include <moveit_pro_behavior_interface/metadata_fields.hpp>
#include <moveit_pro_macros/macros.hpp>

Include dependency graph for attach_object.cpp:

Namespaces
namespace	moveit_pro
namespace	moveit_pro::behaviors

Functions
tl::expected< bool, std::string >	moveit_pro::behaviors::evaluateAttach (std::string_view object_id, std::string_view link_name, const moveit_msgs::msg::PlanningScene &scene)
	Decide whether an attach diff is needed for an id in a planning scene.
moveit_msgs::msg::AttachedCollisionObject	moveit_pro::behaviors::buildAttachedObjectAtPose (const moveit_msgs::msg::CollisionObject &source, std::string_view link_name, const std::vector< std::string > &touch_links, const geometry_msgs::msg::Transform &relative_transform)
	Build an attach operation that places an object at a chosen pose relative to a robot link.