MoveIt Pro Behavior
Core Behaviors for MoveIt Pro
moveit_studio::behaviors::CreateStationaryTrajectory Class Referencefinal

This behavior creates a stationary trajectory of specified duration at the provided JointState ROS message. More...

#include <create_stationary_trajectory.hpp>

Inheritance diagram for moveit_studio::behaviors::CreateStationaryTrajectory:
Collaboration diagram for moveit_studio::behaviors::CreateStationaryTrajectory:

Public Member Functions

 CreateStationaryTrajectory (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_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. More...
 

Static Public Member Functions

static BT::PortsList providedPorts ()
 Required implementation of static providedPorts function. More...
 
static BT::KeyValueVector metadata ()
 

Additional Inherited Members

- Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContextshared_resources_
 

Detailed Description

This behavior creates a stationary trajectory of specified duration at the provided JointState ROS message.

Data Port Name Port Type Object Type
joint_state Input sensor_msgs::msg::JointState
trajectory_duration Input double
joint_trajectory_msg Output trajectory_msgs::msg::JointTrajectory

Constructor & Destructor Documentation

◆ CreateStationaryTrajectory()

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

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_studio::behaviors::CreateStationaryTrajectory::metadata ( )
static

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::CreateStationaryTrajectory::providedPorts ( )
static

Required implementation of static providedPorts function.

◆ tick()

BT::NodeStatus moveit_studio::behaviors::CreateStationaryTrajectory::tick ( )
override

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