A Behavior to compute the inverse kinematics for a given set of target poses. More...

#include <compute_inverse_kinematics.hpp>

Inheritance diagram for moveit_studio::behaviors::ComputeInverseKinematics:

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Collaboration diagram for moveit_studio::behaviors::ComputeInverseKinematics:

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Public Member Functions
	ComputeInverseKinematics (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

virtual	~AsyncBehaviorBase ()=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().

void	resetStatus ()
	Resets the internal status of this node.

Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	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 ()

Additional Inherited Members
Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
virtual tl::expected< void, std::string >	doHalt ()
	Optionally implement additional work needed to cleanly interrupt the async process.

void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

A Behavior to compute the inverse kinematics for a given set of target poses.

This behavior will compute the inverse kinematics for a given planning group and set of target poses. Each target pose needs to be associated with a tip link that needs to reach that pose. In the most common case (e.g. kinematic chains), target_poses and tip_links will contain a single element each. In more complex cases (e.g. kinematic trees, like a humanoid torso), target_poses and tip_links may contain multiple elements, therefore solving the IK problem simultaneously for multiple end-effectors.

Data Port Name	Port Type	Object Type
target_poses	Input	std::vector<geometry_msgs::msg::PoseStamped>
tip_links	Input	std::vector<std::string>
planning_scene_msg	Input	moveit_msgs::msg::PlanningScene
planning_group_name	Input	std::string
ik_timeout_s	Input	double
link_padding	Input	double
solution	Output	moveit_studio_agent_msgs::msg::RobotJointState

Constructor & Destructor Documentation

◆ ComputeInverseKinematics()

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

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_studio::behaviors::ComputeInverseKinematics::metadata ( )

static

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::ComputeInverseKinematics::providedPorts ( )

static

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

Public Member Functions