Get the JointState of a JointTrajectory at a specified time. More...

#include <get_trajectory_state_at_time.hpp>

Inheritance diagram for moveit_studio::behaviors::GetTrajectoryStateAtTime:

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Collaboration diagram for moveit_studio::behaviors::GetTrajectoryStateAtTime:

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

Get the JointState of a JointTrajectory at a specified time.

If from_start is true, then the trajectory will be queried at the time_from_reference from its start, otherwise it will be queried at the time_from_reference from its end. If time_from_reference doesn't exactly match a state in the trajectory, but is still within the bounds of the trajectory then the behavior will interpolate between states. The behavior will return FAILURE if the time_from_reference is outside the bounds of the trajectory.

Data Port Name	Port Type	Object Type
joint_trajectory_msg	Input	trajectory_msgs::msg::JointTrajectory
time_from_reference	Input	double
from_start	Input	bool
joint_state	Output	moveit_studio_agent_msgs::msg::RobotJointState

Constructor & Destructor Documentation

◆ GetTrajectoryStateAtTime()

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

Constructor for GetTrajectoryStateAtTime behavior.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions