MoveIt Pro Behavior
Core Behaviors for MoveIt Pro
moveit_studio::behaviors::SetupMTCDetachObject Class Referencefinal

Add an MTC Stage to an MTC Task that detaches an object from the named robot frame. More...

#include <setup_mtc_attach_object.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCDetachObject:
Collaboration diagram for moveit_studio::behaviors::SetupMTCDetachObject:

Public Member Functions

 SetupMTCDetachObject (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
 
- Public Member Functions inherited from moveit_studio::behaviors::SetupMTCAttachOrDetachObject
 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. More...
 

Static Public Member Functions

static BT::PortsList providedPorts ()
 
static BT::KeyValueVector metadata ()
 

Additional Inherited Members

- Public Types inherited from moveit_studio::behaviors::SetupMTCAttachOrDetachObject
enum class  Operation { ATTACH , DETACH }
 
- Protected Attributes inherited from moveit_studio::behaviors::SetupMTCAttachOrDetachObject
const Operation operation_
 
- Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContextshared_resources_
 

Detailed Description

Add an MTC Stage to an MTC Task that detaches an object from the named robot frame.

Data Port Name Port Type Object Type
task Bidirectional std::shared_ptr<moveit::task_constructor::Task>
object Input moveit_studio_vision_msgs::msg::GraspableObject
frame_id Input std::string

Constructor & Destructor Documentation

◆ SetupMTCDetachObject()

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

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_studio::behaviors::SetupMTCDetachObject::metadata ( )
static

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::SetupMTCDetachObject::providedPorts ( )
static

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