Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 123456]

▼CBT::ActionNodeBase
Cmoveit_studio::behaviors::WaitAndPopSolutionQueue	Pops the MTC solution queue to get the next solution to be processed
CAdmittanceControllerParams	Struct representing admittance controller parameters
Cmoveit_studio::behaviors::BehaviorContext	The BehaviorContext struct contains shared resources that are common between all instances of Behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode
▼CBehaviorTreeNodeT
Cmoveit_studio::behaviors::SharedResourcesNode< BehaviorTreeNodeT >	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node
▼Cmoveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase	Provides an interface to an action client that can handle a single goal at a time
Cmoveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface	Implements ClientInterfaceBase for the rclcpp action client
▼Cmoveit_studio::behaviors::ClientInterfaceBase< ServiceT >	Provides an interface to a service client that can send a single request at a time. WARNING - This class currently does not support calling syncSendRequest function asynchronously from multiple threads
Cmoveit_studio::behaviors::RclcppClientInterface< ServiceT >	Implements ClientInterfaceBase for the rclcpp service client
▼Cmoveit_studio::behaviors::ClockInterfaceBase	A base class which provides an interface for retrieving timepoints from a monotonic clock
Cmoveit_studio::behaviors::SteadyClockInterface	Implementation of ClockInterfaceBase for std::chrono::steady_clock
CYAML::convert< AdmittanceControllerParams >	Utility to decode YAML node as an AdmittanceControllerParams struct
CYAML::convert< OrientationConstraintParams >	Utility to decode YAML node as an OrientationConstraintParams struct
▼CBT::DecoratorNode
Cmoveit_studio::behaviors::ForEach	A class for creating a behavior tree decorator node to iterate through a vector of items
▼Cstd::exception
Cmoveit_studio::test_utils::WrongBehaviorPortsException	Exception thrown by Behavior testing classes when the Behavior does not define exactly the expected ports
▼Cmoveit_studio::behavior::LoggerBase	Base class to allow Behaviors to report messages with detailed explanations to MoveIt Studio UI
Cmoveit_studio::behavior::LoggerROS	A ROS-specialized implementation of LoggerBase that publishes the error message on a topic and logs it through an rclcpp Logger
Cmoveit_studio::behaviors::ObjectWithDistance	Associates a GraspableObject with a distance metric
COrientationConstraintParams	Struct representing orientation constraint params
▼Cmoveit_studio::behaviors::PublisherInterfaceBase< MessageT >	Defines an interface to a publisher that sends a message to a topic
Cmoveit_studio::behaviors::RclcppPublisherInterface< MessageT >	Implementation of the publisher interface for a rclcpp publisher
▼Cmoveit_studio::behaviors::SharedResourcesNodeLoaderBase	Base class for Behavior loader plugins that register Behaviors inheriting from SharedResourcesNode
Cmoveit_studio::behaviors::CoreBehaviorsLoader
Cmoveit_studio::behaviors::MTCCoreBehaviorsLoader
Cmoveit_studio::behaviors::MTCTaskSetupBehaviorsLoader
Cmoveit_studio::behaviors::NavBehaviorsLoader
Cmoveit_studio::behaviors::ServoBehaviorsLoader
Cmoveit_studio::behaviors::VisionBehaviorsLoader
▼CBT::StatefulActionNode
►Cmoveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
►Cmoveit_studio::behaviors::AsyncBehaviorBase	A base class for behaviors which need to asynchronously run a function that might take a long time to complete
►Cmoveit_studio::behaviors::ActionClientBehaviorBase< GripperCommand >
Cmoveit_studio::behaviors::MoveGripperAction	Actuate a gripper through its driver node's GripperCommand action. Given the name of the action topic and a target gripper position, move the gripper to the specified position
►Cmoveit_studio::behaviors::ActionClientBehaviorBase< moveit_pro_controllers_msgs::action::FollowJointTrajectoryWithAdmittance >
Cmoveit_studio::behaviors::ExecuteTrajectoryWithAdmittance	Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to a Joint Trajectory With Admittance controller (JTAC)
►Cmoveit_studio::behaviors::ActionClientBehaviorBase< ExecuteTaskSolution >
Cmoveit_studio::behaviors::ExecuteMTCTask	Takes an MTC Solution message via an input data port, and executes the lowest-cost trajectory in that Solution using the MTC ExecuteTaskSolution MoveGroup capability's /execute_task_solution action server
►Cmoveit_studio::behaviors::ActionClientBehaviorBase< FollowJointTrajectory >
Cmoveit_studio::behaviors::ExecuteFollowJointTrajectory	Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to the specified FollowJointTrajectory action server
►Cmoveit_studio::behaviors::ActionClientBehaviorBase< NavigateToPose >
Cmoveit_studio::behaviors::NavigateToPoseAction	Calls an action server that uses nav2_msgs::action::NavigateToPose and outputs feedback The NavigateToPose action (ROS 2 Humble) does not produce a result
►Cmoveit_studio::behaviors::ActionClientBehaviorBase< NavigateThroughPoses >
Cmoveit_studio::behaviors::NavigateThroughPosesAction	Calls an action server that uses nav2_msgs::action::NavigateThroughPoses and outputs feedback The NavigateThroughPoses action (ROS 2 Humble) does not produce a result
►Cmoveit_studio::behaviors::ActionClientBehaviorBase< DoTeleoperate >
Cmoveit_studio::behaviors::DoTeleoperateAction	Starts teleoperation by sending a goal to the teleoperation action server in the web UI
►Cmoveit_studio::behaviors::ActionClientBehaviorBase< GetMasks2D >
Cmoveit_studio::behaviors::GetMasks2DAction	Calls an action server that uses moveit_studio_vision_msgs::action::GetMasks2D interface and outputs the results on the masks2d port
►Cmoveit_studio::behaviors::ActionClientBehaviorBase< CalibratePose >
Cmoveit_studio::behaviors::CalibratePoseAction	Calls a robot_calibration_msgs::action::CalibratePose action server and outputs the results on the calibrated_poses port. NOTE: For now this behavior only supports sending a single frame for calibration
►Cmoveit_studio::behaviors::ActionClientBehaviorBase< ShapeCompletion >
Cmoveit_studio::behaviors::ShapeCompletionAction	Calls an action server that uses moveit_studio_vision_msgs::action::ShapeCompletion interface and outputs the completed pointcloud given a partial or occluded pointcloud
►Cmoveit_studio::behaviors::GetMessageFromTopicBehaviorBase< sensor_msgs::msg::CameraInfo >
Cmoveit_studio::behaviors::GetCameraInfo	Capture camera information. The name of the topic containing the camera information is set through the "topic_name" parameter, and the resulting information is available on the "message_out" output port
►Cmoveit_studio::behaviors::GetMessageFromTopicBehaviorBase< sensor_msgs::msg::Image >
Cmoveit_studio::behaviors::GetImage	Capture an image. The name of the topic containing the image is set through the "topic_name" parameter, and the resulting image is available on the "message_out" output port
►Cmoveit_studio::behaviors::GetMessageFromTopicBehaviorBase< sensor_msgs::msg::PointCloud2 >
Cmoveit_studio::behaviors::GetPointCloud	Capture a point cloud. The name of the topic containing the point cloud is set through the "topic_name" parameter, and the resulting point cloud is available on the "message_out" output port
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< RetrievePose >
Cmoveit_studio::behaviors::RetrievePoseParameter	Retrieves a stamped pose from the MoveIt Pro parameter manager node
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< RetrieveJointState >
Cmoveit_studio::behaviors::RetrieveJointStateParameter	Retrieves a joint state from the MoveIt Pro parameter manager node
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< SendPointCloud2 >
Cmoveit_studio::behaviors::UpdatePlanningSceneService	Uses the service advertised by the PointCloudServiceOctomapUpdater plugin to apply a point cloud to the planning scene collision octomap and wait until the update has been applied
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< SwitchPrimaryView >
Cmoveit_studio::behaviors::SwitchUIPrimaryView	Switches the primary view in the MoveIt Studio Developer Tool
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::DetachOrRemoveTool >
Cmoveit_studio::behaviors::DetachOrRemoveTool	This Behavior sends a request to detach a tool from a robot or remove it from the planning scene
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< RequestTextFromUser >
Cmoveit_studio::behaviors::GetTextFromUser	Gets text from user by sending a list of prompts with default values for each prompt
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< RequestPointsFromUser >
Cmoveit_studio::behaviors::GetPointsFromUser	Requests a set of named points from the user by switching the view and displaying a sequence of prompts in the UI
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< std_srvs::srv::Empty >
Cmoveit_studio::behaviors::ClearSnapshot	Sends a request to clear the existing Octomap and Pointcloud snapshots
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< GetPlanningScene >
Cmoveit_studio::behaviors::CreateJointState	Create a sensor_msgs::msg::JointState and writes it to the Blackboard
Cmoveit_studio::behaviors::GetCurrentPlanningScene	Get the current planning scene state from the MoveIt PlanningSceneMonitor via service request
Cmoveit_studio::behaviors::PlanCartesianPath	Given a Cartesian-space path, plan a joint-space trajectory to move the robot tip along the path
Cmoveit_studio::behaviors::PlanToJointGoal	Given a joint-space goal, plan a joint-space trajectory to reach the goal
Cmoveit_studio::behaviors::SolveIKQueries
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AddTool >
Cmoveit_studio::behaviors::AddTool	This Behavior sends a request to add a tool to the planning scene as a collision object
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< moveit_studio_agent_msgs::srv::AttachTool >
Cmoveit_studio::behaviors::AttachTool	This Behavior sends a request to attach a tool to a robot for motion planning purposes
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< SetStringArray >
Cmoveit_studio::behaviors::ActivateControllers	Activate controllers, whose names are set by the "controller_names" parameter
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< Trigger >
Cmoveit_studio::behaviors::CallTriggerService	Call a service that accepts a std_srvs/srv/Trigger message. The name of the service is set through the "service_name" parameter
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< RetrieveBehaviorParameter >
►Cmoveit_studio::behaviors::GetParameterValueFromUser< std::string >
Cmoveit_studio::behaviors::GetStringFromUser	Given a parameter name, send a service request to the Objective Server to retrieve user input value of type string for the parameter named parameter_name
Cmoveit_studio::behaviors::GetParameterValueFromUser< T >	This is a template class to get parameter values which are stored in a map in the Objective Server node. The map contains parameter overrides which are specified when creating the DoObjectiveSequence goal. Given a parameter name, send a service request to the Objective Server to retrieve user input value for the parameter named parameter_name
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< AdjustPose >
Cmoveit_studio::behaviors::AdjustPoseWithIMarker	Requests a user to manually adjust a collection of poses using interactive markers in the UI
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase< ApplyPlanningScene >
Cmoveit_studio::behaviors::AddVirtualObjectToPlanningScene	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a virtual collision object to the planning scene. A virtual collision object is only forbidden to collide with the robot
Cmoveit_studio::behaviors::ModifyObjectInPlanningScene	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a collision object representing a GraspableObject to the planning scene
Cmoveit_studio::behaviors::RemoveCollisionObjectFromPlanningScene	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to remove a collision object from the planning scene. The CollisionObject that has an ID that matches object_id has its operation field set to REMOVE. If there is no CollisionObject with object_id, the behavior returns an error
►Cmoveit_studio::behaviors::TeleoperateBase< control_msgs::msg::JointJog >
Cmoveit_studio::behaviors::TeleoperateJointJog	Specialization of TeleoperateBase for joint jog commands
►Cmoveit_studio::behaviors::TeleoperateBase< geometry_msgs::msg::TwistStamped >
Cmoveit_studio::behaviors::TeleoperateTwist	Specialization of TeleoperateBase for Cartesian twist commands
Cmoveit_studio::behaviors::ActionClientBehaviorBase< ActionT >	A base class for behaviors which need to send a goal to a ROS action client and wait for a result. If the behavior is halted before the action result is received, the action goal will be canceled
Cmoveit_studio::behaviors::CheckCuboidSimilarity	Check if two GraspableObjects are similar within some tolerance
Cmoveit_studio::behaviors::CropPointsInBox	Given a point cloud and a box-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid
Cmoveit_studio::behaviors::CropPointsInSphere	Given a point cloud and a sphere-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid
Cmoveit_studio::behaviors::DetectAprilTags	Detects AprilTag markers from an image
Cmoveit_studio::behaviors::FindMaskedObjects	Finds objects by segmenting a point cloud using a set of 2D mask images
Cmoveit_studio::behaviors::FitLineSegmentToMask3D	Finds the line segment that best fits a point cloud fragment
Cmoveit_studio::behaviors::GetGraspableObjectsFromMasks3D	Finds objects in point cloud segments represented by 3D masks
Cmoveit_studio::behaviors::GetMasks3DFromMasks2D	Backprojects a number of image masks onto a point cloud with a camera model
Cmoveit_studio::behaviors::GetMeshNormalPoses	Gets the normal vectors for a given mesh and returns the normal vector poses to the caller
Cmoveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >	Base class for Behaviors that get the latest message from a topic specified on an input data port and set that message to an output data port
Cmoveit_studio::behaviors::GetPointCloudFromMask3D	Gets the fragment of a point cloud for a 3D mask
Cmoveit_studio::behaviors::GetPoseFromPixelCoords	Given an ordered point cloud and normalized pixel XY coordinates, outputs a stamped pose corresponding to a point normal to the selected coordinates
Cmoveit_studio::behaviors::LoadPointCloudFromFile	Loads a point cloud from a .pcd or .stl file, optionally recolors it, and writes it to an output data port
Cmoveit_studio::behaviors::MergePointClouds	Merges a number of input point clouds into a single one
Cmoveit_studio::behaviors::PlanMTCTask	Takes a shared pointer to an existing MTC Task object via an input data port, plans the Task, and sets the solution with the lowest overall cost as an output data port. A service client sends over all the solutions to the MTC Solution Manager node which can be used for debugging
Cmoveit_studio::behaviors::RegisterPointClouds	Registers a target point cloud to a base point cloud and outputs the pose of the target point cloud relative to the origin of the base point cloud which aligns the target cloud with the base cloud
Cmoveit_studio::behaviors::SaveImageToFile	Save an image to disk as a .png file. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.png
Cmoveit_studio::behaviors::SavePointCloudToFile	Save a point cloud .pcd file to disk. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd
Cmoveit_studio::behaviors::SendPointCloudToUI	Crop and filter a point cloud using MoveIt's sensor configuration, then publish it to a topic monitored by the UI
Cmoveit_studio::behaviors::ServiceClientBehaviorBase< ServiceT >	A base class for behaviors which need to send a request to a ROS service client and wait for a result
Cmoveit_studio::behaviors::TeleoperateBase< CommandT >	This is a special Behavior to enable manual teleoperation using MoveIt Servo through the Objective Server
Cmoveit_studio::behaviors::TransformPointCloud	Transforms a point cloud given an input pose in the same frame as the point cloud
Cmoveit_studio::behaviors::TransformPointCloudFrame	Transforms a point cloud to a target coordinate frame
Cmoveit_studio::behaviors::ValidateTrajectory	Checks if a joint trajectory is valid, given a PlanningScene
Cmoveit_studio::behaviors::AveragePoseStamped	This Behavior calculates the running average of incoming Pose Stamped ROS messages
Cmoveit_studio::behaviors::BreakpointSubscriber	A behavior that subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an objective
Cmoveit_studio::behaviors::EditWaypoint	Use the /edit_waypoints service to save the robot's current state as a new named waypoint or erase an existing waypoint. The name of the waypoint to save or delete is set through the "waypoint_name" behavior parameter. The operation to perform on the waypoint is set through the "waypoint_operation" behavior parameter, which must be set to either "save" or "erase"
Cmoveit_studio::behaviors::FindSingularCuboids	Finds well-singulated cuboids supported by a surface within a point cloud
Cmoveit_studio::behaviors::ForceExceedsThreshold	Monitors wrench messages published to topic, and returns SUCCESS if the magnitude of the wrench measurements exceeds a force threshold for a minimum number of consecutive readings
Cmoveit_studio::behaviors::GetDoorHandlePose	This class represents a behavior that can calculate the pose of a door lever handle along with its depth and length. The convention is that the Z-axis of the pose represents the axis of rotation of the handle. The X-axis points along the handle and points toward the door hinge
Cmoveit_studio::behaviors::GetSyncedImageAndPointCloud	Get data from time-synchronized image and point cloud topics and populate them in output ports
Cmoveit_studio::behaviors::GetSyncedImages	Get data from time-synchronized image topics and populate them in output ports
Cmoveit_studio::behaviors::IsConstraintSatisfied	Check if the robot's current state satisfies a visibility kinematic constraint relative to an object
Cmoveit_studio::behaviors::LoadImageFromFile	Loads an image from a file and writes it to an output data port
Cmoveit_studio::behaviors::PublishPointCloud	Publish a point cloud
Cmoveit_studio::behaviors::PublishStaticFrame	Publishes a static transform into the tf2 buffer
Cmoveit_studio::behaviors::PublishVelocityForceCommand	Publishes a static transform into the tf2 buffer
Cmoveit_studio::behaviors::ResetPlanningSceneObjects	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to remove all objects which were added to the planning scene, including objects that are attached to the robot
Cmoveit_studio::behaviors::RetrieveWaypoint	Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint
Cmoveit_studio::behaviors::SaveCurrentState	Use the /get_planning_scene service from move_group to save the robot's current state
Cmoveit_studio::behaviors::ServoTowardsPose	Move the tip at a velocity in closed loop towards a Cartesian target_pose, using Servo
Cmoveit_studio::behaviors::SetAdmittanceParameters	Sets admittance parameters to be used in the 'ExecuteTrajectoryWithAdmittance' Behavior
Cmoveit_studio::behaviors::WaitForUserTrajectoryApproval	Takes an MTC Solution message via an input data port, and publishes it to the /preview_solution topic. Creates a SetBool service server on the /execute_behavior_solution topic and waits to receive a request containing data: true before succeeding
Cmoveit_studio::behaviors::WaitForDuration	Wait for a specified duration before succeeding
▼Cmoveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >::SubscriberInterfaceBase	Defines an interface to a subscriber that blocks while waiting for a message to be received on a topic
Cmoveit_studio::behaviors::GetMessageFromTopicBehaviorBase< MessageT >::RclcppSubscriberInterface	Implementation of the subscriber interface for a rclcpp subscription
▼CBT::SyncActionNode
►Cmoveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
►Cmoveit_studio::behaviors::SendMessageToTopicBehaviorBase< std_msgs::msg::Empty >
Cmoveit_studio::behaviors::PublishEmpty	Publish a std_msgs::msg::Empty message to a topic
►Cmoveit_studio::behaviors::SendMessageToTopicBehaviorBase< std_msgs::msg::String >
Cmoveit_studio::behaviors::PublishString	Publish a std_msgs::msg::String message to a topic
Cmoveit_studio::behaviors::AddSubframeToObject	Annotates an input GraspableObject with an input Pose and Pose ID
Cmoveit_studio::behaviors::AppendOrientationConstraint	Appends an orientation constraint (based on the values specified in the input port's yaml file) to an existing constraints message
Cmoveit_studio::behaviors::CalculatePoseOffset	Calculates the offset transform from source_pose to destination_pose. This can be used to measure the distance between two poses and returns the result relative to the source_pose
Cmoveit_studio::behaviors::ConvertMtcSolutionToJointTrajectory	Converts a MoveIt Task Constructor Solution into a JointTrajectory
Cmoveit_studio::behaviors::CreateGraspableObject
Cmoveit_studio::behaviors::CreateStampedPose	Create a geometry_msgs::msg::PoseStamped and writes it to the Blackboard
Cmoveit_studio::behaviors::CreateStampedTwist	Create a geometry_msgs::msg::TwistStamped and writes it to the Blackboard
Cmoveit_studio::behaviors::CreateStampedWrench	Create a geometry_msgs::msg::WrenchStamped and writes it to the Blackboard
Cmoveit_studio::behaviors::CreateStationaryTrajectory	This behavior creates a stationary trajectory of specified duration at the provided JointState ROS message
Cmoveit_studio::behaviors::ExtractGraspableObjectPose	Changes an input GraspableObject into a PoseStamped by getting its pose and its ID
Cmoveit_studio::behaviors::GenerateCoveragePath	Creates a zig-zag path for a robot end-effector to follow, to cover a given area
Cmoveit_studio::behaviors::GeneratePointToPointTrajectory	Generate a joint-space point-to-point trajectory to move the robot from the start joint state to the target joint state
Cmoveit_studio::behaviors::GetClosestObjectToPose	Given a collection of GraspableObjects, find the one that's closest to the provided pose
Cmoveit_studio::behaviors::GetDetectionPose	Gets the stamped pose of an object detection given a label or ID, if one exists
Cmoveit_studio::behaviors::GetLatestTransform	Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior
Cmoveit_studio::behaviors::GetRobotJointState	This behavior extracts a ROS sensor_msgs/JointState message from a a planning scene object
Cmoveit_studio::behaviors::GetTrajectoryStateAtTime	Get the JointState of a JointTrajectory at a specified time
Cmoveit_studio::behaviors::InitializeMTCTask	Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the names of controllers to enable by default when executing trajectories planned by this Task), and sets it as an output data port
Cmoveit_studio::behaviors::InitializeMotionConstraints	Creates a shared pointer to a new moveit_msgs::msg::Constraints and writes it to the Blackboard
Cmoveit_studio::behaviors::IsUserAvailable	Checks for the presence of a user interface by checking if the /trajectory_bridge ROS node exists
Cmoveit_studio::behaviors::LoadFromYaml< T >	Loads a type from a YAML file, and returns it in an output port
Cmoveit_studio::behaviors::LoadMultipleFromYaml< T >	Loads types from a YAML file, and returns them as a vector in an output port
Cmoveit_studio::behaviors::LoadObjectiveParameters	Loads the configuration parameters for a given objective. The configuration file name is given as an input port parameters to this behavior. The parameters are loaded once per objective execution. To reload the parameter from the file, just execute the objective again
Cmoveit_studio::behaviors::LogMessage	Logs a user specified message via the LoggerROS class. ROS 2 log severity of message specified by log_level
Cmoveit_studio::behaviors::PublishMarkers	Publishes a set of markers to the UI for visualization
Cmoveit_studio::behaviors::ReadTextFileAsString	Read the contents of a text file and output the contents as a std::string
Cmoveit_studio::behaviors::SaveToYaml< T >	Save the contents of a ROS 2 message type to a YAML file in a specified namespace. Note: This Behavior template saves the pose into the ~/.config/moveit_pro/robot_config/objectives folder
Cmoveit_studio::behaviors::SendMessageToTopicBehaviorBase< MessageT >	Base class for Behaviors that send a message to a topic. The message contents and topic name are specified as input ports
Cmoveit_studio::behaviors::SetupMTCApproachGrasp	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to approach the object
►Cmoveit_studio::behaviors::SetupMTCAttachOrDetachObject	This is the base class for SetupMTCAttachObject and SetupMTCDetachObject
Cmoveit_studio::behaviors::SetupMTCAttachObject	Add an MTC Stage to an MTC Task that attaches an object to the named robot frame
Cmoveit_studio::behaviors::SetupMTCDetachObject	Add an MTC Stage to an MTC Task that detaches an object from the named robot frame
Cmoveit_studio::behaviors::SetupMTCCartesianMoveToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a cartesian motion plan to that joint state
Cmoveit_studio::behaviors::SetupMTCCartesianSequence	Given an existing MTC Task object and a sequence of target poses, appends MTC stages to plan a sequence of cartesian motions between the poses
Cmoveit_studio::behaviors::SetupMTCConnectWithTrajectory	Append a MTC stage to connect the end state of the previous stage with the start state of the next stage using a freespace trajectory
Cmoveit_studio::behaviors::SetupMTCCurrentState	Given an existing MTC Task object, appends an MTC CurrentState Stage to the Task
Cmoveit_studio::behaviors::SetupMTCGenerateCuboidGrasps	Given an existing MTC Task object and a target object, appends MTC stages to generate cuboid grasp poses
Cmoveit_studio::behaviors::SetupMTCGenerateVacuumGrasps	Given an existing MTC Task object and a target object, appends MTC stages to generate vacuum grasp poses on its planar surfaces
Cmoveit_studio::behaviors::SetupMTCGraspAndTwistThenMoveAlongArcPush	Configures MTC stages to grasp a location, rotate the end-effector about an axis to turn the grasp point (for example a handle), and then push the end-effector away from the robot base while still grasping (for example to open a door)
Cmoveit_studio::behaviors::SetupMTCGraspThenMoveAlongArcPull	Configures MTC stages to perform a motion that can be parameterized as a grasp followed by a pulling motion in a screw-trajectory (a circular arc). Examples in practice include opening pull doors and drawers
Cmoveit_studio::behaviors::SetupMTCIgnoreCollisionsBetweenObjects	Given an MTC Task, append an MTC Stage that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a set of objects while planning subsequent Stages
Cmoveit_studio::behaviors::SetupMTCInterpolateToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a joint-interpolated motion plan to that joint state
Cmoveit_studio::behaviors::SetupMTCMoveAlongFrameAxis	Given an existing MTC Task object, append a MTC MoveRelative stage to perform a cartesian motion along an axis
Cmoveit_studio::behaviors::SetupMTCMoveToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a freespace motion plan to that joint state
Cmoveit_studio::behaviors::SetupMTCMoveToNamedState	Given an existing MTC Task object and the name of a known state, appends MTC stages to describe a freespace motion plan to that state
Cmoveit_studio::behaviors::SetupMTCMoveToPose	Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose
Cmoveit_studio::behaviors::SetupMTCPickObject	Given an existing MTC Task object and a target grasp pose, appends MTC stages to describe a motion plan to approach, grasp and lift an object at that pose
Cmoveit_studio::behaviors::SetupMTCPlanToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a freespace motion plan to that joint state using the MoveIt Pro RRTConnect planner
Cmoveit_studio::behaviors::SetupMTCPlanToPose	Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose using the MoveIt Pro RRTConnect Planner
Cmoveit_studio::behaviors::SetupMTCRetractFromGrasp	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to retract after grasping the object
Cmoveit_studio::behaviors::SetupMTCUpdateGroupCollisionRule	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
Cmoveit_studio::behaviors::SetupMTCUpdateObjectCollisionRule	Add an MTC Stage to an MTC Task that makes following stages either allow or prohibit collision between a GraspableObject and another entity. The other entity can be either a named collision object in the planning scene or the links of a named robot planning group
Cmoveit_studio::behaviors::SetupMtcPickFromPose	Given an existing MTC Task object and a target grasp pose, appends MTC stages to describe a motion plan to approach, grasp, and lift an object at that pose
Cmoveit_studio::behaviors::SetupMtcPlaceFromPose	Given an existing MTC Task object and a target grasp pose, appends MTC stages to describe a motion plan to approach, grasp, and lift an object at that pose
Cmoveit_studio::behaviors::SplitMTCSolution	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
Cmoveit_studio::behaviors::StopwatchEnd	Measure the difference between an input timepoint and the current timepoint, and emit a log message which states the time elapsed
Cmoveit_studio::behaviors::TransformPose	Transforms a stamped pose given an input translation and orientation
Cmoveit_studio::behaviors::TransformPoseFrame	Transforms the reference frame of an input stamped pose to the frame specified by a frame ID, along with the position/orientation transformation that entails
Cmoveit_studio::behaviors::TransformPoseFromYaml	Transforms a stamped pose given an input yaml file that contains the translation and orientation that should be applied to the input. NOTE: The pose_parameters port is normally provided by a LoadObjectiveParameter Behavior
Cmoveit_studio::behaviors::TransformPoseWithPose	Transforms an input stamped pose with the transform specified by another stamped pose
Cmoveit_studio::behaviors::VisualizeMesh	Publishes a marker that contains a mesh path to the UI for visualization
Cmoveit_studio::behaviors::VisualizePath	Publishes a marker array that contains a polyline representing a path
Cmoveit_studio::behaviors::VisualizePose	Publishes a visualization marker that contains three lines composing a coordinate frame
Cmoveit_studio::behaviors::WriteCalibratedPoseToYaml	Write pose (x,y,z, roll, pitch, yaw) to YAML file. This behavior is meant to be called after the Calibrate Pose Action. TODO: Make this behavior more generic. Note: The behavior saves the calibrated_pose into the ~/.config/moveit_pro/calibration folder
Cmoveit_studio::behaviors::AddPointCloudToVector	Appends a point cloud to a vector of point clouds
Cmoveit_studio::behaviors::AddToVector< InputT >	Pushes an object into a vector and sets the updated vector to the blackboard
Cmoveit_studio::behaviors::BiasedCoinFlip	Simulates flipping a biased coin with the specified probability of success provided via the input port
Cmoveit_studio::behaviors::GenerateObjectsInBox
Cmoveit_studio::behaviors::GetCentroidFromPointCloud	Given an input point cloud, estimates the cloud centroid using pcl::compute3DCentroid and outputs that as a pose stamped with the same header as the point cloud
Cmoveit_studio::behaviors::GetGraspAndTwistSubframes	Given an input PoseStamped representing a grasp pose selected on an object, get the three Subframes that define a Grasp Screw Motion (grab and twist about an axis) where the object is grabbed and rotated by grasp_rotation_z_radians amount
Cmoveit_studio::behaviors::GetMoveAlongArcSubframes	Given a PoseStamped for a grasp pose, and a vector of two PoseStampeds for the axis of the arc, calculates the subframes needed for motion along an arc. The arc radius is the distance between the grasp point and the arc (hinge) axis
Cmoveit_studio::behaviors::PushToSolutionQueue	Push a new MTC solution to the solution queue
Cmoveit_studio::behaviors::ResetVector< InputT >	Create an empty vector and set it to the blackboard
Cmoveit_studio::behaviors::SetupMTCFixedJointState	Given an existing MTC Task object, appends an MTC FixedState Stage to the Task
Cmoveit_studio::behaviors::SetupMTCFromSolution	Given an existing MTC Task object, appends an MTC Stage to the Task that initializes it with the final planning scene of a given solution
Cmoveit_studio::behaviors::StopwatchBegin	Saves the current epoch time as a timepoint to a data port
▼Cmoveit_studio::test_utils::WithBehavior< BehaviorT >	Adds testing capabilities of Behaviors with context to any test fixture
Cmoveit_studio::test_utils::WithActionBehavior< BehaviorT, ClientInterfaceT >
Cmoveit_studio::test_utils::WithBehaviorWithoutContext< BehaviorT >	Adds testing capabilities of Behaviors without context to any test fixture