moveit_pro::behaviors::SetupMTCBatchPoseIK Class Reference

Given an existing MTC Task object and a vector of poses, appends an MTC stage to compute IK solutions. *. More...

#include <setup_mtc_batch_pose_ik.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCBatchPoseIK:

Collaboration diagram for moveit_pro::behaviors::SetupMTCBatchPoseIK:

Public Member Functions
	SetupMTCBatchPoseIK (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 ()

Static Public Attributes
static constexpr auto	kDefaultStageName = "pose IK"
static constexpr auto	kPortIDTask = "task"
static constexpr auto	kPortIDTargetPoses = "target_poses"
static constexpr auto	kPortIDMonitoredStage = "monitored_stage"
static constexpr auto	kPortIDIKGroup = "ik_group"
static constexpr auto	kPortIDEndEffectorGroup = "end_effector_group"
static constexpr auto	kPortIDEndEffectorLink = "end_effector_link"
static constexpr auto	kPortIDIKTimeoutSeconds = "ik_timeout_s"
static constexpr auto	kPortIDMaxIKSolutions = "max_ik_solutions"

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

Detailed Description

Given an existing MTC Task object and a vector of poses, appends an MTC stage to compute IK solutions. *.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
monitored_stage	Input	std::string
target_poses	Input	std::vector<geometry_msgs::msg::PoseStamped>
ik_group	Input	std::string
end_effector_group	Input	std::string
end_effector_link	Input	std::string
ik_timeout_s	Input	double
max_ik_solutions	Input	int

Constructor & Destructor Documentation

SetupMTCBatchPoseIK()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kDefaultStageName = "pose IK"

staticconstexpr

kPortIDEndEffectorGroup

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDEndEffectorGroup = "end_effector_group"

staticconstexpr

kPortIDEndEffectorLink

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDEndEffectorLink = "end_effector_link"

staticconstexpr

kPortIDIKGroup

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDIKGroup = "ik_group"

staticconstexpr

kPortIDIKTimeoutSeconds

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDIKTimeoutSeconds = "ik_timeout_s"

staticconstexpr

kPortIDMaxIKSolutions

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDMaxIKSolutions = "max_ik_solutions"

staticconstexpr

kPortIDMonitoredStage

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDMonitoredStage = "monitored_stage"

staticconstexpr

kPortIDTargetPoses

constexpr auto moveit_pro::behaviors::SetupMTCBatchPoseIK::kPortIDTargetPoses = "target_poses"

staticconstexpr

kPortIDTask

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

staticconstexpr

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

• setup_mtc_batch_pose_ik.hpp
• setup_mtc_batch_pose_ik.cpp