Given an MTC Task, append an MTC Stage that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a set of objects while planning subsequent Stages. More...

#include <setup_mtc_ignore_collisions_between_objects.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCIgnoreCollisionsBetweenObjects:

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Collaboration diagram for moveit_studio::behaviors::SetupMTCIgnoreCollisionsBetweenObjects:

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Public Member Functions
	SetupMTCIgnoreCollisionsBetweenObjects (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.

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 MTC Task, append an MTC Stage that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a set of objects while planning subsequent Stages.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit::task_constructor::Task>
object_names	Input	std::vector<std::string>
allow_collision	Input	bool

Constructor & Destructor Documentation

◆ SetupMTCIgnoreCollisionsBetweenObjects()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions