Given an MTC Task, append an MTC Stage that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a planning scene object and the links of a named robot planning group while planning subsequent Stages. More...

#include <setup_mtc_update_group_collision_rule.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCUpdateGroupCollisionRule:

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Collaboration diagram for moveit_studio::behaviors::SetupMTCUpdateGroupCollisionRule:

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Public Member Functions
	SetupMTCUpdateGroupCollisionRule (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 planning scene object and the links of a named robot planning group while planning subsequent Stages.

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

Parameter Name	Parameter Type
group_name	std::string
object_name	std::string
allow_collision	bool

Constructor & Destructor Documentation

◆ SetupMTCUpdateGroupCollisionRule()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions