Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the names of controllers to enable by default when executing trajectories planned by this Task), and sets it as an output data port. More...

#include <initialize_mtc_task.hpp>

Inheritance diagram for moveit_studio::behaviors::InitializeMTCTask:

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Collaboration diagram for moveit_studio::behaviors::InitializeMTCTask:

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Public Member Functions
	InitializeMTCTask (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 ()

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

Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the names of controllers to enable by default when executing trajectories planned by this Task), and sets it as an output data port.

Data Port Name	Port Type	Object Type
task_id	Input	std::string
controller_names	Input	std::string
task	Output	std::shared_ptr<moveit::task_constructor::Task>

Constructor & Destructor Documentation

◆ InitializeMTCTask()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions