Append a MTC stage to connect the end state of the previous stage with the start state of the next stage using a freespace trajectory with the ProRRT planner. More...

#include <setup_mtc_connect_with_pro_rrt.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCConnectWithProRRT:

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Collaboration diagram for moveit_pro::behaviors::SetupMTCConnectWithProRRT:

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Public Member Functions
	SetupMTCConnectWithProRRT (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 = "Connect with ProRRT"

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

Detailed Description

Append a MTC stage to connect the end state of the previous stage with the start state of the next stage using a freespace trajectory with the ProRRT planner.

Data Port Name	Port Type	Object Type
planning_group_name	Input	std::string
velocity_scale_factor	Input	double
acceleration_scale_factor	Input	double
max_iterations	Input	unsigned int
trajectory_sampling_rate	Input	unsigned int
link_padding	Input	double
seed	Input	int
keep_orientation	Input	bool
keep_orientation_tolerance	Input	double
keep_orientation_link_names	Input	std::vector<std::string>
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>

Constructor & Destructor Documentation

◆ SetupMTCConnectWithProRRT()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

Member Data Documentation

◆ kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCConnectWithProRRT::kDefaultStageName = "Connect with ProRRT"

staticconstexpr

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members