moveit_pro::behaviors::SetupMTCFixedJointState Class Reference

Given an existing MTC Task object, appends an MTC FixedState Stage to the Task. More...

#include <setup_mtc_fixed_joint_state.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCFixedJointState:

Collaboration diagram for moveit_pro::behaviors::SetupMTCFixedJointState:

Public Member Functions
	SetupMTCFixedJointState (const std::string &name, const BT::NodeConfiguration &config)
BT::NodeStatus	tick () override
	Creates a FixedState MTC stage using the provided input data and appends it to the MTC task.

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

Static Public Attributes
static constexpr auto	kDefaultStageName = "fixed state"

Detailed Description

Given an existing MTC Task object, appends an MTC FixedState Stage to the Task.

Data Port Name	Port Type	Object Type
planning_scene_msg	input	moveit_msgs::msg::PlanningScene
joint_state_msg	input	sensor_msgs::msg::JointState
ignore_collisions	input	bool
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>

Constructor & Destructor Documentation

SetupMTCFixedJointState()

moveit_pro::behaviors::SetupMTCFixedJointState::SetupMTCFixedJointState	(	const std::string &	name,
		const BT::NodeConfiguration &	config
	)

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Creates a FixedState MTC stage using the provided input data and appends it to the MTC task.

Returns

BT::NodeStatus::SUCCESS if the FixedState stage was created and added to the task.

BT::NodeStatus::FAILURE if any input port could not be retrieved.

BT::NodeStatus::FAILURE if the provided planning scene message could not be used to set the FixedState stage's planning scene.

BT::NodeStatus::FAILURE if the planning scene's robot state could not be set to match the provided joint state.

Member Data Documentation

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCFixedJointState::kDefaultStageName = "fixed state"

staticconstexpr

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

• setup_mtc_fixed_joint_state.hpp
• setup_mtc_fixed_joint_state.cpp