Generate a joint-space point-to-point trajectory to move the robot from the start joint state to the target joint state. More...

#include <generate_point_to_point_trajectory.hpp>

Inheritance diagram for moveit_studio::behaviors::GeneratePointToPointTrajectory:

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Collaboration diagram for moveit_studio::behaviors::GeneratePointToPointTrajectory:

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Public Member Functions
	GeneratePointToPointTrajectory (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for GeneratePointToPointTrajectory behavior.

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

Generate a joint-space point-to-point trajectory to move the robot from the start joint state to the target joint state.

The output (joint_trajectory_msg) is a timed joint-space trajectory that is ready to be sent to a trajectory tracking controller. The first point in the trajectory will have a time_from_start equal to the value specified on the start_time input port and will be sampled at the rate specified on the trajectory_sampling_rate input port. 'velocity_scale_factor', 'acceleration_scale_factor', and 'jerk_scale_factor' control the desired joint-space motion as a fraction ([0,1]) of the maximum joint velocities, accelerations, and jerks defined in the MoveIt configs.

The behavior returns SUCCESS if a trajectory was successfully computed between the start and target joint states, or FAILURE otherwise.

Data Port Name	Port Type	Object Type
planning_group_name	Input	std::string
start_state	Input	moveit_studio_agent_msgs::msg::RobotJointState
target_state	Input	moveit_studio_agent_msgs::msg::RobotJointState
velocity_scale_factor	Input	double
acceleration_scale_factor	Input	double
jerk_scale_factor	Input	double
trajectory_sampling_rate	Input	unsigned int
start_time	Input	double
joint_trajectory_msg	Output	trajectory_msgs::msg::JointTrajectory

Constructor & Destructor Documentation

◆ GeneratePointToPointTrajectory()

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

Constructor for GeneratePointToPointTrajectory behavior.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions