moveit_studio::behaviors::SetupMTCFromSolution Class Reference

Given an existing MTC Task object, appends an MTC Stage to the Task that initializes it with the final planning scene of a given solution. More...

#include <setup_mtc_from_solution.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCFromSolution:

Collaboration diagram for moveit_studio::behaviors::SetupMTCFromSolution:

Public Member Functions
	SetupMTCFromSolution (const std::string &name, const BT::NodeConfiguration &config)
BT::NodeStatus	tick () override

Static Public Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

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

Detailed Description

Given an existing MTC Task object, appends an MTC Stage to the Task that initializes it with the final planning scene of a given solution.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit::task_constructor::Task>
solution	Input	std::shared_ptr<moveit_task_constructor_msgs::msg::Solution>

Constructor & Destructor Documentation

SetupMTCFromSolution()

moveit_studio::behaviors::SetupMTCFromSolution::SetupMTCFromSolution	(	const std::string &	name,
		const BT::NodeConfiguration &	config
	)

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kDefaultStageName

constexpr auto moveit_studio::behaviors::SetupMTCFromSolution::kDefaultStageName = "initial state"

staticconstexpr

---

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

• setup_mtc_from_solution.hpp
• setup_mtc_from_solution.cpp