Checks if a joint trajectory is valid, given a PlanningScene. More...

#include <validate_trajectory.hpp>

Inheritance diagram for moveit_studio::behaviors::ValidateTrajectory:

Collaboration diagram for moveit_studio::behaviors::ValidateTrajectory:

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

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().

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

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

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

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.

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

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
virtual tl::expected< void, std::string >	doHalt ()
	Optionally implement additional work needed to cleanly interrupt the async process.

void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

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

Detailed Description

Checks if a joint trajectory is valid, given a PlanningScene.

This behavior just checks that the joint trajectory is collision-free at a given density (joint_space_step and cartesian_space_step).

The planning scene is taken as input (instead of querying the current planning scene) to enable the user to set arbitrary planning scenes. Combine with the GetCurrentPlanningScene behavior to use the current planning scene.

The given trajectory must contain exclusively the planning group joints, otherwise an error will be returned.

The debug_solution port will contain an MTC Solution message with the portion of the trajectory that passed validation. This can be the entire trajectory if all the setpoints passed validation.

Data Port Name	Port Type	Object Type
planning_scene_msg	Input	moveit_msgs::msg::PlanningScene
planning_group_name	Input	std::string
joint_trajectory_msg	Input	trajectory_msgs::msg::JointTrajectory
joint_space_step	Input	double
cartesian_space_step	Input	double
debug_solution	Output	moveit_task_constructor_msgs::msg::Solution

Constructor & Destructor Documentation

◆ ValidateTrajectory()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions