This is the base class for SetupMTCAttachObject and SetupMTCDetachObject. More...

#include <setup_mtc_attach_object.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCAttachOrDetachObject:

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Collaboration diagram for moveit_studio::behaviors::SetupMTCAttachOrDetachObject:

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Public Types
enum class	Operation { ATTACH , DETACH }

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

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.

Protected Attributes
const Operation	operation_

Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

This is the base class for SetupMTCAttachObject and SetupMTCDetachObject.

The only internal difference between these Behaviors is whether the ModifyPlanningScene stage is attaching or releasing the object, so it is efficient to reuse the elements that are in common.

Toggle between attaching or releasing by passing a different Operation enum in the constructor.

Member Enumeration Documentation

◆ Operation

enum class moveit_studio::behaviors::SetupMTCAttachOrDetachObject::Operation

strong

Enumerator
ATTACH
DETACH

Constructor & Destructor Documentation

◆ SetupMTCAttachOrDetachObject()

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

Member Function Documentation

◆ tick()

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

override

Member Data Documentation

◆ operation_

const Operation moveit_studio::behaviors::SetupMTCAttachOrDetachObject::operation_

protected

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

Public Types

Public Member Functions

Protected Attributes