Given an MTC Solution message and an index, create two new MTC Solution messages by splitting the subtrajectories of the input Solution at the specified index. Outputs the new Solutions onto output data ports. More...

#include <split_mtc_solution.hpp>

Inheritance diagram for moveit_studio::behaviors::SplitMTCSolution:

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Collaboration diagram for moveit_studio::behaviors::SplitMTCSolution:

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Public Member Functions
	SplitMTCSolution (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 Solution message and an index, create two new MTC Solution messages by splitting the subtrajectories of the input Solution at the specified index. Outputs the new Solutions onto output data ports.

Data Port Name	Port Type	Object Type
solution_in	Input	moveit_task_constructor_msgs::msg::Solution
index	Input	std::size_t
solution_out_1	Output	moveit_task_constructor_msgs::msg::Solution
solution_out_2	Output	moveit_task_constructor_msgs::msg::Solution

Constructor & Destructor Documentation

◆ SplitMTCSolution()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions