#include <solve_ik_queries.hpp>

Inheritance diagram for moveit_studio::behaviors::SolveIKQueries:

Collaboration diagram for moveit_studio::behaviors::SolveIKQueries:

Public Member Functions
	SolveIKQueries (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	SolveIKQueries (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< GetPlanningScene >> client_interface)

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< GetPlanningScene >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface. More...

	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< GetPlanningScene >> client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase. More...

virtual	~ServiceClientBehaviorBase ()=default

Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

virtual	~AsyncBehaviorBase ()=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart(). More...

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning(). More...

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted(). More...

void	resetStatus ()
	Resets the internal status of this node. More...

Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	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. More...

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< GetPlanningScene >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< GetPlanningScene >
virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished. More...

Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished. More...

Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Use IK to see if the robot's end effector can be moved to a list of poses. The robot's current joint state is used as the initial state for IK.

Data Port Name	Port Type	Object Type
joint_group_name	Input	std::string
target_poses	Input	std::vector<geometry_msgs::msg::PoseStamped>
timeout	Input	double
ik_query_result	Output	std::vector<bool>

Constructor & Destructor Documentation

◆ SolveIKQueries() [1/2]

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

◆ SolveIKQueries() [2/2]

moveit_studio::behaviors::SolveIKQueries::SolveIKQueries	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< GetPlanningScene >>	client_interface
	)

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions

Static Public Member Functions