moveit_pro::behaviors::SetupMTCSetCollisionRule Class Reference

Append an MTC ModifyPlanningScene stage that allows or forbids collisions between two entities during MTC task execution. More...

#include <setup_mtc_set_collision_rule.hpp>

Inheritance diagram for moveit_pro::behaviors::SetupMTCSetCollisionRule:

Collaboration diagram for moveit_pro::behaviors::SetupMTCSetCollisionRule:

Public Member Functions
	SetupMTCSetCollisionRule (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 > &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	kPortIDTask = "task"
static constexpr auto	kPortIDNameA = "name_a"
static constexpr auto	kPortIDNameB = "name_b"
static constexpr auto	kPortIDAllowCollision = "allow_collision"

Detailed Description

Append an MTC ModifyPlanningScene stage that allows or forbids collisions between two entities during MTC task execution.

MTC stage equivalent of SetCollisionRule, providing one uniform string-based interface for collision rules between planning groups, collision objects, and robot links.

Each of name_a and name_b is resolved when the task is planned, against the planning scene the planner has built at this stage, as one of three categories: planning group, collision object id, and robot link. A planning group expands to its links with collision geometry; an ambiguous name (matches more than one category) fails planning, as does a name that matches none.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>
name_a	Input	std::string
name_b	Input	std::string
allow_collision	Input	bool

Constructor & Destructor Documentation

SetupMTCSetCollisionRule()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kPortIDAllowCollision

constexpr auto moveit_pro::behaviors::SetupMTCSetCollisionRule::kPortIDAllowCollision = "allow_collision"

staticconstexpr

kPortIDNameA

constexpr auto moveit_pro::behaviors::SetupMTCSetCollisionRule::kPortIDNameA = "name_a"

staticconstexpr

kPortIDNameB

constexpr auto moveit_pro::behaviors::SetupMTCSetCollisionRule::kPortIDNameB = "name_b"

staticconstexpr

kPortIDTask

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

staticconstexpr

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

• setup_mtc_set_collision_rule.hpp
• setup_mtc_set_collision_rule.cpp