split_mtc_solution.hpp File Reference

#include <behaviortree_cpp/action_node.h>
#include <behaviortree_cpp/bt_factory.h>
#include <moveit_studio_behavior_interface/behavior_context.hpp>
#include <moveit_studio_behavior_interface/shared_resources_node.hpp>
#include <moveit_task_constructor_msgs/msg/solution.hpp>

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Classes
class	moveit_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. More...

Namespaces
	moveit_studio
	moveit_studio::behaviors

Functions
tl::expected< std::vector< moveit_task_constructor_msgs::msg::Solution >, std::string >	moveit_studio::behaviors::splitSolutionAtIndex (const moveit_task_constructor_msgs::msg::Solution solution_in, const std::size_t index)
	Split an MTC Solution message in two by dividing its vector of subtrajectories at the specified index. More...