moveit_pro::behaviors::SetupMTCDetachObjectByID Class Reference

Append an MTC ModifyPlanningScene stage that detaches a collision object from a robot link during MTC task execution. More...

#include <setup_mtc_detach_object_by_id.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCDetachObjectByID:

Collaboration diagram for moveit_pro::behaviors::SetupMTCDetachObjectByID:

Public Member Functions
	SetupMTCDetachObjectByID (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	kPortIDLinkName = "link_name"

Detailed Description

Append an MTC ModifyPlanningScene stage that detaches a collision object from a robot link during MTC task execution.

MTC stage equivalent of DetachObject, taking a plain object_id. The Behavior only appends the stage at Behavior-tick time; the scene change happens later, when MTC's planner executes the task.

Unlike the non-MTC DetachObject, link_name is required: MTC stages are constructed before the task runs, so the runtime scene cannot be queried to find which link the object is currently attached to.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
object_id	Input	std::string
link_name	Input	std::string

Constructor & Destructor Documentation

SetupMTCDetachObjectByID()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kPortIDLinkName

constexpr auto moveit_pro::behaviors::SetupMTCDetachObjectByID::kPortIDLinkName = "link_name"

staticconstexpr

kPortIDObjectId

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

staticconstexpr

kPortIDTask

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

staticconstexpr

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

• setup_mtc_detach_object_by_id.hpp
• setup_mtc_detach_object_by_id.cpp