moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis Class Reference

Given an existing MTC Task object, append a MTC MoveRelative stage to perform a cartesian motion along an axis. More...

#include <setup_mtc_move_along_frame_axis.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis:

Collaboration diagram for moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis:

Public Member Functions
	SetupMTCMoveAlongFrameAxis (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 = "Cartesian Motion"
static constexpr auto	kPortIDAccelerationScale = "acceleration_scale"
static constexpr auto	kPortIDAxisFrame = "axis_frame"
static constexpr auto	kPortIDAxisX = "axis_x"
static constexpr auto	kPortIDAxisY = "axis_y"
static constexpr auto	kPortIDAxisZ = "axis_z"
static constexpr auto	kPortIDHandFrame = "hand_frame"
static constexpr auto	kPortIDMaxDistance = "max_distance"
static constexpr auto	kPortIDMinDistance = "min_distance"
static constexpr auto	kPortIDPlanningGroupName = "planning_group_name"
static constexpr auto	kPortIDTask = "task"
static constexpr auto	kPortIDVelocityScale = "velocity_scale"
static constexpr auto	kPortIDIgnoreEnvironmentCollisions = "ignore_environment_collisions"

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, append a MTC MoveRelative stage to perform a cartesian motion along an axis.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
axis_x	Input	double
axis_y	Input	double
axis_z	Input	double
axis_frame	Input	std::string
min_distance	Input	double
max_distance	Input	double
planning_group_name	Input	std::string
hand_frame	Input	std::string
velocity_scale	Input	double
acceleration_scale	Input	double
ignore_environment_collisions	Input	bool

Constructor & Destructor Documentation

SetupMTCMoveAlongFrameAxis()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kDefaultStageName = "Cartesian Motion"

staticconstexpr

kPortIDAccelerationScale

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDAccelerationScale = "acceleration_scale"

staticconstexpr

kPortIDAxisFrame

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDAxisFrame = "axis_frame"

staticconstexpr

kPortIDAxisX

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDAxisX = "axis_x"

staticconstexpr

kPortIDAxisY

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDAxisY = "axis_y"

staticconstexpr

kPortIDAxisZ

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDAxisZ = "axis_z"

staticconstexpr

kPortIDHandFrame

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDHandFrame = "hand_frame"

staticconstexpr

kPortIDIgnoreEnvironmentCollisions

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDIgnoreEnvironmentCollisions = "ignore_environment_collisions"

staticconstexpr

kPortIDMaxDistance

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDMaxDistance = "max_distance"

staticconstexpr

kPortIDMinDistance

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDMinDistance = "min_distance"

staticconstexpr

kPortIDPlanningGroupName

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDPlanningGroupName = "planning_group_name"

staticconstexpr

kPortIDTask

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

staticconstexpr

kPortIDVelocityScale

constexpr auto moveit_pro::behaviors::SetupMTCMoveAlongFrameAxis::kPortIDVelocityScale = "velocity_scale"

staticconstexpr

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

• setup_mtc_move_along_frame_axis.hpp
• setup_mtc_move_along_frame_axis.cpp