moveit_pro::behaviors::ConvertMtcSolutionToJointTrajectory Class Reference

Converts a MoveIt Task Constructor Solution into a JointTrajectory. More...

#include <convert_mtc_solution_to_joint_trajectory.hpp>

Inheritance diagram for moveit_pro::behaviors::ConvertMtcSolutionToJointTrajectory:

Collaboration diagram for moveit_pro::behaviors::ConvertMtcSolutionToJointTrajectory:

Public Member Functions
	ConvertMtcSolutionToJointTrajectory (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	tick () override
Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

Static Public Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Additional Inherited Members
Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Converts a MoveIt Task Constructor Solution into a JointTrajectory.

Data Port Name	Port Type	Object Type
solution	Input	moveit_task_constructor_msgs::msg::Solution
joint_group	Input	std::string
velocity_scaling_factor	Input	double
acceleration_scaling_factor	Input	double
sampling_rate	Input	int
joint_trajectory	Output	trajectory_msgs::msg::JointTrajectory

Constructor & Destructor Documentation

ConvertMtcSolutionToJointTrajectory()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

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

• convert_mtc_solution_to_joint_trajectory.hpp
• convert_mtc_solution_to_joint_trajectory.cpp