calculates a control velocity that is a sum of the target velocity and a catchup velocity. The target motion state can be offset from the incoming motion state message. The returned control velocity is designed to be sent to the velocity_force_controller. More...

#include <compute_velocity_to_align_with_target.hpp>

Inheritance diagram for moveit_studio::behaviors::ComputeVelocityToAlignWithTarget:

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Collaboration diagram for moveit_studio::behaviors::ComputeVelocityToAlignWithTarget:

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

BT::NodeStatus	tick () override

Public Member Functions inherited from moveit_studio::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 ()

Additional Inherited Members
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

calculates a control velocity that is a sum of the target velocity and a catchup velocity. The target motion state can be offset from the incoming motion state message. The returned control velocity is designed to be sent to the velocity_force_controller.

Data Port Name	Port Type	Object Type
target_motion_state	input	nav_msgs::msg::Odometry
target_pose_offset	input	geometry_msgs::msg::PoseStamped
end_effector_frame	input	std::string
proportional_gain_linear	input	double
proportional_gain_angular	input	double
pose_error	output	geometry_msgs::msg::PoseStamped
control_velocity	output	geometry_msgs::msg::TwistStamped

Constructor & Destructor Documentation

◆ ComputeVelocityToAlignWithTarget()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

BT::NodeStatus moveit_studio::behaviors::ComputeVelocityToAlignWithTarget::tick ( )

override

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

Public Member Functions

Static Public Member Functions