Avoid collision object spheres using MPC. More...

#include <mpc_sphere_clearance.hpp>

Inheritance diagram for moveit_pro::behaviors::MPCSphereClearance:

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Collaboration diagram for moveit_pro::behaviors::MPCSphereClearance:

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Public Member Functions
	MPCSphereClearance (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)

Public Member Functions inherited from moveit_pro::behaviors::MPCBehaviorBase< MPCSphereClearance >
	MPCBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)

Public Member Functions inherited from moveit_pro::behaviors::internal::MPCBehaviorBase
	MPCBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources, const std::function< tl::expected< void, std::string >(const BT::TreeNode &)> &set_residual_ports)

	~MPCBehaviorBase () override

tl::expected< void, std::string >	doHalt () override
	Optionally implement additional work needed to cleanly interrupt the async process.

BT::NodeStatus	onStart () final
	Claims the process-wide right to execute MPC, then sets up the problem from the Behavior's ports.

tl::expected< bool, std::string >	doWork () final
	Runs the MPC loop and releases the claim taken by onStart() on every exit path. Final for that reason.

virtual bool	finished ()
	Determines whether the behavior has finished execution.

std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Public Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	~AsyncBehaviorBase () override=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().

void	resetStatus ()
	Resets the internal status of this node.

void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

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

const std::shared_ptr< BehaviorContext > &	getBehaviorContext () const

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

static auto	getResiduals ()
	Define the residuals used by this MPC behavior.

static BT::KeyValueVector	metadata ()

Static Public Member Functions inherited from moveit_pro::behaviors::MPCBehaviorBase< MPCSphereClearance >
static tl::expected< void, std::string >	setResidualParameter (const BT::TreeNode &tree_node)

static BT::PortsList	providedPorts ()

Static Public Member Functions inherited from moveit_pro::behaviors::internal::MPCBehaviorBase
static BT::PortsList	providedProblemParametersPorts ()
	Provides the list of BT ports required for problem parameters.

static BT::PortsList	providedSolverParametersPorts ()
	Provides the list of BT ports required for solver parameters.

Additional Inherited Members
Public Attributes inherited from moveit_pro::behaviors::internal::MPCBehaviorBase
trajectory_msgs::msg::JointTrajectory	trajectory_msg
	Trajectory message to be populated by MPC.

rclcpp_action::Client< control_msgs::action::FollowJointTrajectory >::SharedPtr	client
	Action client to send trajectories to a joint trajectory controller.

std::shared_ptr< moveit_pro::planning_scene_monitor::PlanningSceneMonitor >	planning_scene_monitor
	Shared pointer to the planning scene monitor used for monitoring and updating the planning scene.

moveit_pro::base::RobotModelConstPtr	robot_model
	Constant pointer to the robot model used for planning and execution.

std::function< tl::expected< void, std::string >(const BT::TreeNode &)>	set_residual_ports
	Callback to set the residual parameters from the BT ports.

Detailed Description

Avoid collision object spheres using MPC.

This behavior uses Model Predictive Control (MPC) to track a pose while avoiding spheres represented as collision objects.

This behavior optimizes a cost function composed of the following residuals:

Site tracking errors.
Sphere clearance.
Cartesian velocity.
Cartesian acceleration. For further details on the residual functions, please refer to the documentation of each residual function.

Tuning Tips

Adjust the weights of the residual functions to prioritize specific constraints.

Constructor & Destructor Documentation

◆ MPCSphereClearance()

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

Member Function Documentation

◆ getResiduals()

static auto moveit_pro::behaviors::MPCSphereClearance::getResiduals ( )

inlinestatic

Define the residuals used by this MPC behavior.

This method allows the use of a MPCProblem instance to add residual-specific ports.

Returns: A BT::PortsList containing the required ports for the behavior.

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions

Static Public Member Functions

Additional Inherited Members