moveit_pro::behaviors::SetupMTCAddCollisionBox Class Reference

Append an MTC ModifyPlanningScene stage that adds a box-shaped collision object to the planning scene during MTC task execution. More...

#include <setup_mtc_add_collision_box.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCAddCollisionBox:

Collaboration diagram for moveit_pro::behaviors::SetupMTCAddCollisionBox:

Public Member Functions
	SetupMTCAddCollisionBox (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 > &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 BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kPortIDTask = "task"
static constexpr auto	kPortIDObjectId = "object_id"
static constexpr auto	kPortIDDimensions = "dimensions"
static constexpr auto	kPortIDPose = "pose"
static constexpr auto	kPortIDOverwrite = "overwrite"

Detailed Description

Append an MTC ModifyPlanningScene stage that adds a box-shaped collision object to the planning scene during MTC task execution.

MTC stage equivalent of AddCollisionBox. The Behavior runs at Behavior-tick time and only appends the stage; the actual scene change happens later, when MTC's planner executes the task. There is no planning_scene port: MTC stages do not have access to a runtime scene at construction time, so the only sink is the task. By default the stage fails to plan when a world object with the same id already exists in the planned scene; set overwrite to true to replace it instead. That check runs against the MTC pipeline scene, never the live scene.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
object_id	Input	std::string
dimensions	Input	std::vector<double>
pose	Input	geometry_msgs::msg::PoseStamped
overwrite	Input	bool

Constructor & Destructor Documentation

SetupMTCAddCollisionBox()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kPortIDDimensions

constexpr auto moveit_pro::behaviors::SetupMTCAddCollisionBox::kPortIDDimensions = "dimensions"

staticconstexpr

kPortIDObjectId

constexpr auto moveit_pro::behaviors::SetupMTCAddCollisionBox::kPortIDObjectId = "object_id"

staticconstexpr

kPortIDOverwrite

constexpr auto moveit_pro::behaviors::SetupMTCAddCollisionBox::kPortIDOverwrite = "overwrite"

staticconstexpr

kPortIDPose

constexpr auto moveit_pro::behaviors::SetupMTCAddCollisionBox::kPortIDPose = "pose"

staticconstexpr

kPortIDTask

constexpr auto moveit_pro::behaviors::SetupMTCAddCollisionBox::kPortIDTask = "task"

staticconstexpr

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

• setup_mtc_add_collision_box.hpp
• setup_mtc_add_collision_box.cpp