mtc_stage_helpers.cpp File Reference

#include <moveit_pro_behavior/behaviors/mtc_task_setup/mtc_stage_helpers.hpp>
#include <algorithm>
#include <memory>
#include <optional>
#include <ranges>
#include <stdexcept>
#include <utility>
#include <fmt/format.h>
#include <geometry_msgs/msg/transform.hpp>
#include <moveit_msgs/msg/attached_collision_object.hpp>
#include <moveit_msgs/msg/collision_object.hpp>
#include <moveit_pro/task_constructor/stages.h>
#include <moveit_pro/task_constructor/task.h>
#include <moveit_pro_base/collision_detection/world.hpp>
#include <moveit_pro_base/planning_scene/planning_scene.hpp>
#include <moveit_pro_base/robot_model/robot_model.hpp>
#include <moveit_pro_behavior_interface/behavior_context.hpp>
#include <moveit_pro_macros/macros.hpp>

Include dependency graph for mtc_stage_helpers.cpp:

Namespaces
namespace	moveit_pro
namespace	moveit_pro::behaviors

Functions
tl::expected< void, std::string >	moveit_pro::behaviors::applyAddCollisionObject (moveit_pro::base::planning_scene::PlanningScene &scene, const moveit_msgs::msg::CollisionObject &object, bool overwrite)
	Add object to scene, rejecting a duplicate id unless overwrite is true.
BT::NodeStatus	moveit_pro::behaviors::appendAddCollisionObjectStage (const BehaviorContext &shared_resources, const std::string &behavior_name, moveit_pro::task_constructor::Task &task, tl::expected< moveit_msgs::msg::CollisionObject, std::string > collision_object, std::string_view shape_label, bool overwrite)
	Append a ModifyPlanningScene stage that adds collision_object to the planning scene.
tl::expected< moveit_msgs::msg::AttachedCollisionObject, std::string >	moveit_pro::behaviors::buildFixedPoseAttachedObject (const moveit_pro::base::planning_scene::PlanningScene &scene, const std::string &object_id, std::string_view link_name, const geometry_msgs::msg::Transform &transform)
	Build the AttachedCollisionObject that places world object object_id at transform (interpreted as link_T_object) relative to link_name.
BT::NodeStatus	moveit_pro::behaviors::appendAttachOrDetachStage (const BehaviorContext &shared_resources, const std::string &behavior_name, moveit_pro::task_constructor::Task &task, const AttachOrDetachStageRequest &request)
	Append a ModifyPlanningScene stage that attaches or detaches an object to/from a link.
BT::NodeStatus	moveit_pro::behaviors::appendRemoveCollisionObjectStage (const BehaviorContext &shared_resources, const std::string &behavior_name, moveit_pro::task_constructor::Task &task, const std::string &object_id)
	Append a ModifyPlanningScene stage that removes the collision object object_id.