moveit_studio::behaviors::SetupMTCRetractFromGrasp Class Reference

Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to retract after grasping the object. More...

#include <setup_mtc_retract_from_grasp.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCRetractFromGrasp:

Collaboration diagram for moveit_studio::behaviors::SetupMTCRetractFromGrasp:

Public Member Functions
	SetupMTCRetractFromGrasp (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 ()

Static Public Attributes
static constexpr auto	kStageNameAllowCollision3HandOcto = "allow collision 3 (hand,octomap)"
static constexpr auto	kStageNameAllowCollision3HandObj = "allow collision 3 (hand,object)"
static constexpr auto	kStageNameCloseHand = "close hand"
static constexpr auto	kStageNameAttachObject = "Attach object"
static constexpr auto	kStageNameAllowCollision3ObjOcto = "allow collision 3 (object, octomap)"
static constexpr auto	kStageNameLift = "Lift"
static constexpr auto	kStageNameRetreat = "Retreat"
static constexpr auto	kStageNameDetachObject = "Detach object"
static constexpr auto	kStageNameForbidCollisionHandOcto = "forbid collision (hand,octomap)"
static constexpr auto	kStageNameForbidCollisionHandObj = "forbid collision (hand,object)"
static constexpr auto	kStageNameRemoveObjFromScene = "Remove target object from the planning scene"

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 object, appends MTC stages to describe a motion plan to retract after grasping the object.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit::task_constructor::Task>
target_object	Input	moveit_studio_vision_msgs::msg::GraspableObject
parameters	Input	YAML::Node

Constructor & Destructor Documentation

SetupMTCRetractFromGrasp()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kStageNameAllowCollision3HandObj

constexpr auto moveit_studio::behaviors::SetupMTCRetractFromGrasp::kStageNameAllowCollision3HandObj = "allow collision 3 (hand,object)"

staticconstexpr

kStageNameAllowCollision3HandOcto

constexpr auto moveit_studio::behaviors::SetupMTCRetractFromGrasp::kStageNameAllowCollision3HandOcto = "allow collision 3 (hand,octomap)"

staticconstexpr

kStageNameAllowCollision3ObjOcto

constexpr auto moveit_studio::behaviors::SetupMTCRetractFromGrasp::kStageNameAllowCollision3ObjOcto = "allow collision 3 (object, octomap)"

staticconstexpr

kStageNameAttachObject

constexpr auto moveit_studio::behaviors::SetupMTCRetractFromGrasp::kStageNameAttachObject = "Attach object"

staticconstexpr

kStageNameCloseHand

constexpr auto moveit_studio::behaviors::SetupMTCRetractFromGrasp::kStageNameCloseHand = "close hand"

staticconstexpr

kStageNameDetachObject

constexpr auto moveit_studio::behaviors::SetupMTCRetractFromGrasp::kStageNameDetachObject = "Detach object"

staticconstexpr

kStageNameForbidCollisionHandObj

constexpr auto moveit_studio::behaviors::SetupMTCRetractFromGrasp::kStageNameForbidCollisionHandObj = "forbid collision (hand,object)"

staticconstexpr

kStageNameForbidCollisionHandOcto

constexpr auto moveit_studio::behaviors::SetupMTCRetractFromGrasp::kStageNameForbidCollisionHandOcto = "forbid collision (hand,octomap)"

staticconstexpr

kStageNameLift

constexpr auto moveit_studio::behaviors::SetupMTCRetractFromGrasp::kStageNameLift = "Lift"

staticconstexpr

kStageNameRemoveObjFromScene

constexpr auto moveit_studio::behaviors::SetupMTCRetractFromGrasp::kStageNameRemoveObjFromScene = "Remove target object from the planning scene"

staticconstexpr

kStageNameRetreat

constexpr auto moveit_studio::behaviors::SetupMTCRetractFromGrasp::kStageNameRetreat = "Retreat"

staticconstexpr

---

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

• setup_mtc_retract_from_grasp.hpp
• setup_mtc_retract_from_grasp.cpp