Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to approach the object. More...

#include <setup_mtc_approach_grasp.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCApproachGrasp:

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Collaboration diagram for moveit_studio::behaviors::SetupMTCApproachGrasp:

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Public Member Functions
	SetupMTCApproachGrasp (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

Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to approach the object.

This Behavior must be followed by another Behavior that adds MTC stages for grasp pose generation. The monitored_stage output provides the name of the MTC stage containing the initial (pre-aproach) planning scene, which can be used by the grasp generation stage(s).

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit::task_constructor::Task>
target_object	Input	moveit_studio_vision_msgs::msg::GraspableObject
parameters	Input	YAML::Node
monitored_stage	Output	std::string

Constructor & Destructor Documentation

◆ SetupMTCApproachGrasp()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

Move To Pre-Grasp Pose

Approach Grasp

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

Public Member Functions

Static Public Member Functions