moveit_pro::behaviors::SetupMTCPlanToJointState Class Reference

Given an existing MTC Task object and a joint state, appends MTC stages to describe a freespace motion plan to that joint state using the MoveIt Pro RRTConnect planner. More...

#include <setup_mtc_plan_to_joint_state.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCPlanToJointState:

Collaboration diagram for moveit_pro::behaviors::SetupMTCPlanToJointState:

Public Member Functions
	SetupMTCPlanToJointState (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 = "plan to joint state pro rrt"

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 and a joint state, appends MTC stages to describe a freespace motion plan to that joint state using the MoveIt Pro RRTConnect planner.

Data Port Name	Port Type	Object Type
planning_group_name	Input	std::string
joint_state	Input	moveit_studio_agent_msgs::msg::RobotJointState
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

SetupMTCPlanToJointState()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCPlanToJointState::kDefaultStageName = "plan to joint state pro rrt"

staticconstexpr

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

• setup_mtc_plan_to_joint_state.hpp
• setup_mtc_plan_to_joint_state.cpp