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_robot_state.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCPlanToRobotState:

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Collaboration diagram for moveit_pro::behaviors::SetupMTCPlanToRobotState:

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Public Member Functions
	SetupMTCPlanToRobotState (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SetupMTCPlanToRobotState behavior.

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	kDefaultStageName = "plan to joint state pro rrt"

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_msgs::msg::RobotState
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
orientation_constraint	Input	moveit_studio_msgs::msg::OrientationConstraint
joint_range_constraint	Input	moveit_studio_msgs::msg::JointRangeConstraint
optimization_params	Input	moveit_studio_msgs::msg::ProRRTOptimizationParams
joint_costs	Input	std::vector<double>
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>

Constructor & Destructor Documentation

◆ SetupMTCPlanToRobotState()

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

Constructor for SetupMTCPlanToRobotState behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

Member Data Documentation

◆ kDefaultStageName

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

staticconstexpr

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

Public Member Functions

Static Public Member Functions

Static Public Attributes