Resets the MuJoCo simulation to a specified keyframe. More...

#include <reset_mujoco_keyframe.hpp>

Inheritance diagram for moveit_studio::behaviors::ResetMujocoKeyframe:

[legend]

Collaboration diagram for moveit_studio::behaviors::ResetMujocoKeyframe:

[legend]

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

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_internal_msgs::srv::ResetMujocoKeyframe >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface.

	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< moveit_studio_internal_msgs::srv::ResetMujocoKeyframe > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

virtual	~ServiceClientBehaviorBase ()=default

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 BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_internal_msgs::srv::ResetMujocoKeyframe >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_internal_msgs::srv::ResetMujocoKeyframe >
virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished.

tl::expected< void, std::string >	doHalt () override
	Handles halting logic which is specific to the service client behavior implementation.

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

Resets the MuJoCo simulation to a specified keyframe.

This behavior calls a service to reset the MuJoCo simulation state to a named keyframe. The keyframe must be defined in the MuJoCo scene model.

Data Port Name	Port Type	Object Type
keyframe_name	input	std::string
response_timeout	input	double
wait_for_server_available_timeout	input	double

Constructor & Destructor Documentation

◆ ResetMujocoKeyframe()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions