moveit_studio::behaviors::internal::MPCBehaviorBase Class Reference

All non-template implementation for the templated MPCBehaviorBase class. More...

#include <mpc_behavior_base.hpp>

Inheritance diagram for moveit_studio::behaviors::internal::MPCBehaviorBase:

Collaboration diagram for moveit_studio::behaviors::internal::MPCBehaviorBase:

Public Member Functions
	MPCBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources, const std::function< tl::expected< void, std::string >(const BT::TreeNode &)> &set_residual_ports)
	~MPCBehaviorBase () override
tl::expected< void, std::string >	doHalt () override
	Optionally implement additional work needed to cleanly interrupt the async process.
BT::NodeStatus	onStart () override
tl::expected< bool, std::string >	doWork () override
	User-implemented function which handles executing the potentially-long-running process.
virtual bool	finished ()
	Determines whether the behavior has finished execution.
std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
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	providedProblemParametersPorts ()
	Provides the list of BT ports required for problem parameters.
static BT::PortsList	providedSolverParametersPorts ()
	Provides the list of BT ports required for solver parameters.

Public Attributes
std::shared_future< tl::expected< bool, std::string > >	future_
	Classes derived from AsyncBehaviorBase must have this shared_future as a class member.
trajectory_msgs::msg::JointTrajectory	trajectory_msg
	Trajectory message to be populated by MPC.
rclcpp_action::Client< control_msgs::action::FollowJointTrajectory >::SharedPtr	client
	Action client to send trajectories to a joint trajectory controller.
std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor >	planning_scene_monitor
	Shared pointer to the planning scene monitor used for monitoring and updating the planning scene.
moveit::core::RobotModelConstPtr	robot_model
	Constant pointer to the robot model used for planning and execution.
std::string	planning_group
	The name of the planning group used for motion planning.
std::function< tl::expected< void, std::string >(const BT::TreeNode &)>	set_residual_ports
	Callback to set the residual parameters from the BT ports.

Additional Inherited Members
Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
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

All non-template implementation for the templated MPCBehaviorBase class.

Constructor & Destructor Documentation

MPCBehaviorBase()

moveit_studio::behaviors::internal::MPCBehaviorBase::MPCBehaviorBase	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &	shared_resources,
		const std::function< tl::expected< void, std::string >(const BT::TreeNode &)> &	set_residual_ports
	)

~MPCBehaviorBase()

moveit_studio::behaviors::internal::MPCBehaviorBase::~MPCBehaviorBase ( )

overridedefault

Member Function Documentation

doHalt()

tl::expected< void, std::string > moveit_studio::behaviors::internal::MPCBehaviorBase::doHalt ( )

overridevirtual

Optionally implement additional work needed to cleanly interrupt the async process.

The default implementation of this function is a no-op which will not interrupt the async process. This will mean that onHalted will wait until the process finishes before returning.

Returns

Return an empty tl::expected<void, std::string> if the additional work to halt was successful. Return an error message if something failed while doing additional work to halt.

Reimplemented from moveit_studio::behaviors::AsyncBehaviorBase.

doWork()

tl::expected< bool, std::string > moveit_studio::behaviors::internal::MPCBehaviorBase::doWork ( )

overridevirtual

User-implemented function which handles executing the potentially-long-running process.

This function is called within an async process in a separate thread.

Returns

A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.

Implements moveit_studio::behaviors::AsyncBehaviorBase.

finished()

virtual bool moveit_studio::behaviors::internal::MPCBehaviorBase::finished ( )

inlinevirtual

Determines whether the behavior has finished execution.

This method can be overridden by derived classes to customize the termination condition for the behavior. By default, it always returns false.

Returns

true if the behavior has finished, false otherwise.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_studio::behaviors::internal::MPCBehaviorBase::getFuture ( )

overridevirtual

Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Implements moveit_studio::behaviors::AsyncBehaviorBase.

onStart()

BT::NodeStatus moveit_studio::behaviors::internal::MPCBehaviorBase::onStart ( )

override

providedProblemParametersPorts()

BT::PortsList moveit_studio::behaviors::internal::MPCBehaviorBase::providedProblemParametersPorts ( )

static

Provides the list of BT ports required for problem parameters.

Returns

A list of BT ports for problem parameters.

providedSolverParametersPorts()

BT::PortsList moveit_studio::behaviors::internal::MPCBehaviorBase::providedSolverParametersPorts ( )

static

Provides the list of BT ports required for solver parameters.

Returns

A list of BT ports for solver parameters.

Member Data Documentation

client

rclcpp_action::Client<control_msgs::action::FollowJointTrajectory>::SharedPtr moveit_studio::behaviors::internal::MPCBehaviorBase::client

Action client to send trajectories to a joint trajectory controller.

future_

std::shared_future<tl::expected<bool, std::string> > moveit_studio::behaviors::internal::MPCBehaviorBase::future_

Classes derived from AsyncBehaviorBase must have this shared_future as a class member.

planning_group

std::string moveit_studio::behaviors::internal::MPCBehaviorBase::planning_group

The name of the planning group used for motion planning.

planning_scene_monitor

std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> moveit_studio::behaviors::internal::MPCBehaviorBase::planning_scene_monitor

Shared pointer to the planning scene monitor used for monitoring and updating the planning scene.

robot_model

moveit::core::RobotModelConstPtr moveit_studio::behaviors::internal::MPCBehaviorBase::robot_model

Constant pointer to the robot model used for planning and execution.

set_residual_ports

std::function<tl::expected<void, std::string>(const BT::TreeNode&)> moveit_studio::behaviors::internal::MPCBehaviorBase::set_residual_ports

Callback to set the residual parameters from the BT ports.

trajectory_msg

trajectory_msgs::msg::JointTrajectory moveit_studio::behaviors::internal::MPCBehaviorBase::trajectory_msg

Trajectory message to be populated by MPC.

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

• mpc_behavior_base.hpp
• mpc_behavior_base.cpp