moveit_pro::behaviors::SetupMTCPathIK Class Reference

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

#include <setup_mtc_path_ik.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCPathIK:

Collaboration diagram for moveit_pro::behaviors::SetupMTCPathIK:

Public Member Functions
	SetupMTCPathIK (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 = "Path IK"
static constexpr auto	kPortIdTask = "task"
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 stage to perform a cartesian motion along a given path.

This Behavior sets up a MoveIt Task Constructor (MTC) Path IK stage, which computes a joint-space trajectory to follow the specified path in Cartesian space. The path is defined as a vector of PoseStamped messages, which can be in any frame known to the robot's URDF. The stage is configured with the specified planning group, IK frame, and other parameters.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
path	Input	std::vector<geometry_msgs::msg::PoseStamped>
planning_group_name	Input	std::string
ik_frame	Input	std::string
velocity_scale	Input	double
acceleration_scale	Input	double
ignore_environment_collisions	Input	bool
max_optimizer_iterations	Input	int
tip_offset	Input	std::vector<double>

Constructor & Destructor Documentation

SetupMTCPathIK()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCPathIK::kDefaultStageName = "Path IK"

staticconstexpr

kPortIdIgnoreEnvironmentCollisions

constexpr auto moveit_pro::behaviors::SetupMTCPathIK::kPortIdIgnoreEnvironmentCollisions = "ignore_environment_collisions"

staticconstexpr

kPortIdTask

constexpr auto moveit_pro::behaviors::SetupMTCPathIK::kPortIdTask = "task"

staticconstexpr

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

• setup_mtc_path_ik.hpp
• setup_mtc_path_ik.cpp