Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose using the MoveIt Pro RRTConnect Planner. More...

#include <setup_mtc_plan_to_pose.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCPlanToPose:

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Collaboration diagram for moveit_studio::behaviors::SetupMTCPlanToPose:

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Public Member Functions
	SetupMTCPlanToPose (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for GetLatestTransform behavior.

BT::NodeStatus	tick () override
	Synchronous, blocking function that must return SUCCESS/FAILURE every time this action node is ticked by the behavior tree.

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 ()
	Custom tree nodes that have input and/or output ports must define them in this static function.

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 existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose using the MoveIt Pro RRTConnect Planner.

Data Port Name	Port Type	Object Type
grasp_link	Input	std::string
target_pose	Input	geometry_msgs::msg::PoseStamped
monitored_stage	Input	std::string
velocity_scale_factor	Input	double
acceleration_scale_factor	Input	double
max_iterations	Input	unsigned int
trajectory_sampling_rate	Input	unsigned int
link_padding	Input	double
planning_group_name	Input	std::string
keep_orientation	Input	bool
keep_orientation_tolerance	Input	double
keep_orientation_link_names	Input	std::vector<std::string>
task	Bidirectional	std::shared_ptr<moveit::task_constructor::Task>

Constructor & Destructor Documentation

◆ SetupMTCPlanToPose()

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

Constructor for GetLatestTransform behavior.

Parameters

name	Name of the node. Must match the name used for this node in the behavior tree definition file (the .xml file).
config	Node configuration. Only used here because the BehaviorTree.CPP expects constructor signature with name and config first before custom constructor parameters.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Custom tree nodes that have input and/or output ports must define them in this static function.

This function must be static. It is a requirement set by the BehaviorTree.CPP library.

Returns: List of ports with the names and port info. The return value is for the internal use of the behavior tree.

◆ tick()

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

override

Synchronous, blocking function that must return SUCCESS/FAILURE every time this action node is ticked by the behavior tree.

Returns: Status of the node. Must be either SUCCESS/FAILURE (the node is "complete" for now). Cannot be RUNNING since this is a synchronous node.

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

Public Member Functions

Static Public Member Functions