moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis Class Reference

The SetupMTCMultiEEFMoveAlongAxis class adds a dual cartesian motion stage to a MoveIt Task Constructor task. More...

#include <setup_mtc_multi_eef_cartesian.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis:

Collaboration diagram for moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis:

Public Member Functions
	SetupMTCMultiEEFMoveAlongAxis (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor.
BT::NodeStatus	tick () override
	Main execution function for the node.
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 ()
	Provides the list of required and optional ports.
static BT::KeyValueVector	metadata ()
	Provides metadata for this node.

Static Public Attributes
static constexpr auto	kPortIdIkFrames = "ik_frames"
static constexpr auto	kPortIdPlanningGroupNames = "planning_group_names"
static constexpr auto	kPortIdAxisX = "axis_x"
static constexpr auto	kPortIdAxisY = "axis_y"
static constexpr auto	kPortIdAxisZ = "axis_z"
static constexpr auto	kPortIdMinDistance = "min_distance"
static constexpr auto	kPortIdMaxDistance = "max_distance"
static constexpr auto	kPortIdTask = "task"
static constexpr auto	kPortIdMonitoredStage = "monitored_stage"
static constexpr auto	kPortIdVelocityScaleFactor = "velocity_scale_factor"
static constexpr auto	kPortIdAccelerationScaleFactor = "acceleration_scale_factor"
static constexpr auto	kPortIdKeepOrientation = "keep_orientation"

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

Detailed Description

The SetupMTCMultiEEFMoveAlongAxis class adds a dual cartesian motion stage to a MoveIt Task Constructor task.

This BehaviorTree node retrieves parameters from its input ports and sets up a MoveRelative stage (one for each provided IK frame) whose motions are merged together.

Constructor & Destructor Documentation

SetupMTCMultiEEFMoveAlongAxis()

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

Constructor.

Parameters

name	The name of the BT node.
config	The node configuration.
shared_resources	Pointer to shared resources, including the robot model.

Member Function Documentation

metadata()

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

static

Provides metadata for this node.

Returns

A BT::KeyValueVector containing metadata fields such as description and subcategory.

providedPorts()

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

static

Provides the list of required and optional ports.

Returns

A BT::PortsList containing the definitions of the input and output ports.

tick()

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

override

Main execution function for the node.

This function retrieves inputs from the BehaviorTree ports, validates them, creates a dual cartesian motion stage, and adds it to the provided MTC task.

Returns

BT::NodeStatus::SUCCESS if the stage was added successfully, otherwise BT::NodeStatus::FAILURE.

Member Data Documentation

kPortIdAccelerationScaleFactor

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdAccelerationScaleFactor = "acceleration_scale_factor"

staticconstexpr

kPortIdAxisX

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdAxisX = "axis_x"

staticconstexpr

kPortIdAxisY

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdAxisY = "axis_y"

staticconstexpr

kPortIdAxisZ

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdAxisZ = "axis_z"

staticconstexpr

kPortIdIkFrames

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdIkFrames = "ik_frames"

staticconstexpr

kPortIdKeepOrientation

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdKeepOrientation = "keep_orientation"

staticconstexpr

kPortIdMaxDistance

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdMaxDistance = "max_distance"

staticconstexpr

kPortIdMinDistance

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdMinDistance = "min_distance"

staticconstexpr

kPortIdMonitoredStage

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdMonitoredStage = "monitored_stage"

staticconstexpr

kPortIdPlanningGroupNames

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdPlanningGroupNames = "planning_group_names"

staticconstexpr

kPortIdTask

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdTask = "task"

staticconstexpr

kPortIdVelocityScaleFactor

constexpr auto moveit_studio::behaviors::SetupMTCMultiEEFMoveAlongAxis::kPortIdVelocityScaleFactor = "velocity_scale_factor"

staticconstexpr

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

• setup_mtc_multi_eef_cartesian.hpp
• setup_mtc_multi_eef_cartesian.cpp