moveit_studio::behaviors::CreateStampedWrench Class Reference

Create a geometry_msgs::msg::WrenchStamped and writes it to the Blackboard. More...

#include <create_stamped_wrench.hpp>

Inheritance diagram for moveit_studio::behaviors::CreateStampedWrench:

Collaboration diagram for moveit_studio::behaviors::CreateStampedWrench:

Public Member Functions
	CreateStampedWrench (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources)
	Construct a new CreateStampedWrench behavior.
BT::NodeStatus	tick () override
	Contains the logic to create a valid geometry_msgs::msg::WrenchStamped message.
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 ()
	Returns list of ports for this behavior.
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

Create a geometry_msgs::msg::WrenchStamped and writes it to the Blackboard.

Data Port Name	Port Type	Object Type
reference_frame	input	std::string
force_xyz	input	std::vector<double>
torque_xyz	input	std::vector<double>
stamped_wrench	output	geometry_msgs::msg::WrenchStamped

The Behavior checks to see if the input values force_xyz and torque_xyz are of size 3.

Constructor & Destructor Documentation

CreateStampedWrench()

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

Construct a new CreateStampedWrench behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

Returns list of ports for this behavior.

Returns

BT::PortsList

tick()

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

override

Contains the logic to create a valid geometry_msgs::msg::WrenchStamped message.

Returns

BT::NodeStatus Returns success if successful, else failure.

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

• create_stamped_wrench.hpp
• create_stamped_wrench.cpp