attach_object.hpp File Reference

#include <memory>
#include <string>
#include <string_view>
#include <vector>
#include <behaviortree_cpp/bt_factory.h>
#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.hpp>
#include <moveit_pro_behavior/utils/planning_scene_bridge.hpp>
#include <moveit_pro_behavior_interface/async_behavior_base.hpp>
#include <moveit_pro_behavior_interface/shared_resources_node.hpp>
#include <tl_expected/expected.hpp>

Include dependency graph for attach_object.hpp:

This graph shows which files directly or indirectly include this file:

Classes
class	moveit_pro::behaviors::AttachObject
	Attaches a collision object that is already in the planning scene to a robot link. More...

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.