moveit_studio::behaviors::BehaviorContext Struct Reference

The BehaviorContext struct contains shared resources that are common between all instances of Behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode. More...

#include <behavior_context.hpp>

Public Member Functions
	BehaviorContext (const std::shared_ptr< rclcpp::Node > &node_in, bool tf2_spin_thread=true)
	BehaviorContext (const std::shared_ptr< rclcpp::Node > &node_in, std::unique_ptr< moveit_studio::behavior::LoggerBase > logger, bool tf2_spin_thread=true)
	BehaviorContext (const BehaviorContext &)=delete
	BehaviorContext (BehaviorContext &&)=delete
BehaviorContext &	operator= (const BehaviorContext &)=delete
BehaviorContext &	operator= (BehaviorContext &&)=delete

Public Attributes
const std::shared_ptr< rclcpp::Node >	node
	A const shared pointer to a RCLCPP Node. This points to an instance of a Node provided when constructing the BehaviorContext. More...
const std::shared_ptr< rclcpp::CallbackGroup >	callback_group_mutually_exclusive
	A const shared pointer mutually-exclusive callback group. More...
const std::unique_ptr< moveit_studio::behavior::LoggerBase >	logger
	A const shared pointer to a logger for reporting messages to the UI. More...
tf2_ros::Buffer	transform_buffer
	Transform buffer, listener, and broadcaster to interface with TF. More...
tf2_ros::TransformListener	transform_listener
tf2_ros::TransformBroadcaster	transform_broadcaster

Detailed Description

The BehaviorContext struct contains shared resources that are common between all instances of Behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode.

Constructor & Destructor Documentation

BehaviorContext() [1/4]

moveit_studio::behaviors::BehaviorContext::BehaviorContext ( const std::shared_ptr< rclcpp::Node > &  node_in, bool  tf2_spin_thread = true  )

inline

BehaviorContext() [2/4]

moveit_studio::behaviors::BehaviorContext::BehaviorContext ( const std::shared_ptr< rclcpp::Node > &  node_in, std::unique_ptr< moveit_studio::behavior::LoggerBase >  logger, bool  tf2_spin_thread = true  )

inline

BehaviorContext() [3/4]

moveit_studio::behaviors::BehaviorContext::BehaviorContext ( const BehaviorContext &  )

delete

BehaviorContext() [4/4]

moveit_studio::behaviors::BehaviorContext::BehaviorContext ( BehaviorContext &&  )

delete

Member Function Documentation

operator=() [1/2]

BehaviorContext& moveit_studio::behaviors::BehaviorContext::operator= ( BehaviorContext &&  )

delete

operator=() [2/2]

BehaviorContext& moveit_studio::behaviors::BehaviorContext::operator= ( const BehaviorContext &  )

delete

Member Data Documentation

callback_group_mutually_exclusive

const std::shared_ptr<rclcpp::CallbackGroup> moveit_studio::behaviors::BehaviorContext::callback_group_mutually_exclusive

A const shared pointer mutually-exclusive callback group.

Marked const to prevent Behaviors that can access BehaviorContext from changing it.

logger

const std::unique_ptr<moveit_studio::behavior::LoggerBase> moveit_studio::behaviors::BehaviorContext::logger

A const shared pointer to a logger for reporting messages to the UI.

Marked const to prevent Behaviors that can access BehaviorContext from changing it.

node

const std::shared_ptr<rclcpp::Node> moveit_studio::behaviors::BehaviorContext::node

A const shared pointer to a RCLCPP Node. This points to an instance of a Node provided when constructing the BehaviorContext.

Marked const to prevent Behaviors that can access BehaviorContext from changing it.

transform_broadcaster

tf2_ros::TransformBroadcaster moveit_studio::behaviors::BehaviorContext::transform_broadcaster

transform_buffer

tf2_ros::Buffer moveit_studio::behaviors::BehaviorContext::transform_buffer

Transform buffer, listener, and broadcaster to interface with TF.

transform_listener

tf2_ros::TransformListener moveit_studio::behaviors::BehaviorContext::transform_listener

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The documentation for this struct was generated from the following file:

• behavior_context.hpp