Functions
std::optional< moveit::task_constructor::TrajectoryExecutionInfo >	getDefaultTrajectoryExecutionInfo (const std::string &controller_names)
	Process a string containing a space-separated list of controller names to compose an MTC TrajectoryExecutionInfo object describing which controllers to use when executing the trajectory. More...

tl::expected< sensor_msgs::msg::JointState, std::string >	filterJointStateForGroup (const moveit_studio_agent_msgs::msg::RobotJointState &joint_state_in, const moveit::core::RobotModelConstPtr &robot_model, const std::string &planning_group_name)
	Create a joint state that contains the subset of joints in an input joint state that are associated with a particular planning group. More...

moveit_msgs::msg::VisibilityConstraint	createCameraVisibilityConstraint (const std::string &camera_optical_frame, const std_msgs::msg::Header &target_header, const geometry_msgs::msg::Pose &target_pose, const double camera_field_of_view, const double target_diameter, const double sensor_z_offset)
	Create a VisibilityConstraint to make the robot look at an object in the scene. More...

std::string	getFullName (const moveit::task_constructor::Stage *stage)
	Get the fully-qualified name of a MTC stage. More...

bool	collisionValidationFunction (const moveit::core::JointModelGroup &group, const Eigen::VectorXd &goal_positions, planning_scene::PlanningScene &planning_scene)
	Validate a joint-space configuration by checking for collisions in the given planning scene. More...

tl::expected< geometry_msgs::msg::TransformStamped, std::string >	getTransform (const tf2_ros::Buffer &buffer, const std::string &parent_frame_id, const std_msgs::msg::Header &child_frame_header, const std::chrono::duration< double > &timeout)
	Wraps a TF lookup within a tl::expected. More...

Function Documentation

◆ collisionValidationFunction()

bool moveit_studio::helper_functions::collisionValidationFunction	(	const moveit::core::JointModelGroup &	group,
		const Eigen::VectorXd &	goal_positions,
		planning_scene::PlanningScene &	planning_scene
	)

inline

Validate a joint-space configuration by checking for collisions in the given planning scene.

This function sets the joint positions of the robot model in the input planning scene to the input goal_positions and performs a collision check. The collision check is performed against the robot's self-collision and the environment. The link padding set in the planning scene is taken into account in both collision checks.

Parameters

group	Joint model group associated with `goal_positions`.
goal_positions	Joint-space configuration to validate.
planning_scene	Planning scene to perform the collision check against.

Returns: True if the input goal_positions are collision-free in the input planning_scene, false otherwise.

◆ createCameraVisibilityConstraint()

moveit_msgs::msg::VisibilityConstraint moveit_studio::helper_functions::createCameraVisibilityConstraint	(	const std::string &	camera_optical_frame,
		const std_msgs::msg::Header &	target_header,
		const geometry_msgs::msg::Pose &	target_pose,
		const double	camera_field_of_view,
		const double	target_diameter,
		const double	sensor_z_offset
	)

inline

Create a VisibilityConstraint to make the robot look at an object in the scene.

Assumes that the sensor view direction is along the Z+ axis of the camera optical frame.

Parameters

camera_optical_frame	Frame ID of the camera origin.
target_header	Header containing the frame of reference and timestamp of the target object.
target_pose	Pose of the center of the target object.
camera_field_of_view	Angular field of view of the camera, in radians. The constraint will keep the center of the target object within the field of view relative to the camera optical origin.
target_diameter	Diameter of the target.
sensor_z_offset	Distance in front of the camera optical frame to place the visibility constraint cone.

Returns: The constraint with fields populated based on the input.

◆ filterJointStateForGroup()

tl::expected<sensor_msgs::msg::JointState, std::string> moveit_studio::helper_functions::filterJointStateForGroup	(	const moveit_studio_agent_msgs::msg::RobotJointState &	joint_state_in,
		const moveit::core::RobotModelConstPtr &	robot_model,
		const std::string &	planning_group_name
	)

inline

Create a joint state that contains the subset of joints in an input joint state that are associated with a particular planning group.

Parameters

joint_state_in	Input joint state to filter
robot_model	Robot model defining which joints are part of which planning groups
planning_group_name	Filter to joints that are part of this planning group

Returns: A joint state containing names and joint positions for a subset of joints from joint_state_in which are part of the planning group named planning_group_name

◆ getDefaultTrajectoryExecutionInfo()

std::optional<moveit::task_constructor::TrajectoryExecutionInfo> moveit_studio::helper_functions::getDefaultTrajectoryExecutionInfo ( const std::string & controller_names )

inline

Process a string containing a space-separated list of controller names to compose an MTC TrajectoryExecutionInfo object describing which controllers to use when executing the trajectory.

Parameters

controller_names Input space-separated list of controller names. For example, "/controller1 /controller2".

Returns: An optional wrapping the output TrajectoryExecutionInfo. Set to nullopt if an exception was caught while parsing

Parameters

controller_names.

◆ getFullName()

std::string moveit_studio::helper_functions::getFullName ( const moveit::task_constructor::Stage * stage )

inline

Get the fully-qualified name of a MTC stage.

The output from this function is intended to be used as the input for moveit::task_constructor::ContainerBase::findChild().

Parameters

stage Pointer to the stage

Returns: std::string Fully-qualified name composed of the name of the input stage appended to the names of each of its parent stages. The names are separated by a / character.

◆ getTransform()

tl::expected<geometry_msgs::msg::TransformStamped, std::string> moveit_studio::helper_functions::getTransform	(	const tf2_ros::Buffer &	buffer,
		const std::string &	parent_frame_id,
		const std_msgs::msg::Header &	child_frame_header,
		const std::chrono::duration< double > &	timeout
	)

inline

Wraps a TF lookup within a tl::expected.

Allows replacing tf2_ros::Buffer's default exception-based error handling with the expected-return concept.

Parameters

buffer	TF buffer to use for the lookup.
parent_frame_id	Fixed frame, used as parent frame in TF lookup
child_frame_header	Header of the child frame. The lookup uses the timestamp from this header.

Returns: If successful, returns a stamped transform from the parent frame to the child frame. Returns an error message if the TF lookup fails.

Functions

Function Documentation

◆ collisionValidationFunction()

◆ createCameraVisibilityConstraint()

◆ filterJointStateForGroup()

◆ getDefaultTrajectoryExecutionInfo()

◆ getFullName()

◆ getTransform()