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. More...

#include <initialize_mtc_task.hpp>

Inheritance diagram for moveit_pro::behaviors::InitializeMTCTask:

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Collaboration diagram for moveit_pro::behaviors::InitializeMTCTask:

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Public Member Functions
	InitializeMTCTask (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

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.

Data Port Name	Port Type	Object Type
task_id	Input	std::string
controller_names	Input	std::vector<std::string>
timeout	Input	double
trajectory_monitoring	Input	bool
task	Output	std::shared_ptr<moveit_pro::task_constructor::Task>

Constructor & Destructor Documentation

◆ InitializeMTCTask()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions