Given an existing MTC Task object, appends an MTC CurrentState Stage to the Task. More...

#include <setup_mtc_current_state.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCCurrentState:

Collaboration diagram for moveit_studio::behaviors::SetupMTCCurrentState:

Public Member Functions
	SetupMTCCurrentState (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 ()

Static Public Attributes
static constexpr auto	kDefaultStageName = "current state"

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, appends an MTC CurrentState Stage to the Task.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit::task_constructor::Task>
skip_collision_check	Input	bool

By default, this stage will check for collisions between any two objects in the planning scene. If any collisions are found, the stage will fail, and the colliding bodies will be returned in the error message. Adding this check to the generator stage is the fastest way to have an MTC task fail when the input is in collision.

The collision check can be skipped by setting skip_collision_check to true.

Constructor & Destructor Documentation

◆ SetupMTCCurrentState()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

Member Data Documentation

◆ kDefaultStageName

constexpr auto moveit_studio::behaviors::SetupMTCCurrentState::kDefaultStageName = "current state"

staticconstexpr

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members