moveit_studio::behaviors::MPCBehaviorBase< IMPL > Class Template Reference

A base class for behaviors to help set up and execute MPC. More...

#include <mpc_behavior_base.hpp>

Inheritance diagram for moveit_studio::behaviors::MPCBehaviorBase< IMPL >:

Collaboration diagram for moveit_studio::behaviors::MPCBehaviorBase< IMPL >:

Public Member Functions
	MPCBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources)
Public Member Functions inherited from moveit_studio::behaviors::internal::MPCBehaviorBase
	MPCBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources, const std::function< tl::expected< void, std::string >(const BT::TreeNode &)> &set_residual_ports)
	~MPCBehaviorBase () override
tl::expected< void, std::string >	doHalt () override
	Optionally implement additional work needed to cleanly interrupt the async process.
BT::NodeStatus	onStart () override
tl::expected< bool, std::string >	doWork () override
	User-implemented function which handles executing the potentially-long-running process.
virtual bool	finished ()
	Determines whether the behavior has finished execution.
std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
virtual	~AsyncBehaviorBase ()=default
BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().
BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().
void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().
void	resetStatus ()
	Resets the internal status of this node.
Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	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 tl::expected< void, std::string >	setResidualParameter (const BT::TreeNode &tree_node)
static BT::PortsList	providedPorts ()
Static Public Member Functions inherited from moveit_studio::behaviors::internal::MPCBehaviorBase
static BT::PortsList	providedProblemParametersPorts ()
	Provides the list of BT ports required for problem parameters.
static BT::PortsList	providedSolverParametersPorts ()
	Provides the list of BT ports required for solver parameters.

Additional Inherited Members
Public Attributes inherited from moveit_studio::behaviors::internal::MPCBehaviorBase
std::shared_future< tl::expected< bool, std::string > >	future_
	Classes derived from AsyncBehaviorBase must have this shared_future as a class member.
trajectory_msgs::msg::JointTrajectory	trajectory_msg
	Trajectory message to be populated by MPC.
rclcpp_action::Client< control_msgs::action::FollowJointTrajectory >::SharedPtr	client
	Action client to send trajectories to a joint trajectory controller.
std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor >	planning_scene_monitor
	Shared pointer to the planning scene monitor used for monitoring and updating the planning scene.
moveit::core::RobotModelConstPtr	robot_model
	Constant pointer to the robot model used for planning and execution.
std::string	planning_group
	The name of the planning group used for motion planning.
std::function< tl::expected< void, std::string >(const BT::TreeNode &)>	set_residual_ports
	Callback to set the residual parameters from the BT ports.
Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

template<typename IMPL>
class moveit_studio::behaviors::MPCBehaviorBase< IMPL >

A base class for behaviors to help set up and execute MPC.

Constructor & Destructor Documentation

MPCBehaviorBase()

template<typename IMPL >

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

inline

Member Function Documentation

providedPorts()

template<typename IMPL >

static BT::PortsList moveit_studio::behaviors::MPCBehaviorBase< IMPL >::providedPorts ( )

inlinestatic

setResidualParameter()

template<typename IMPL >

static tl::expected< void, std::string > moveit_studio::behaviors::MPCBehaviorBase< IMPL >::setResidualParameter ( const BT::TreeNode &  tree_node )

inlinestatic

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

• mpc_behavior_base.hpp