position_condition.h
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1 #ifndef POSITION_CONDITION_
2 #define POSITION_CONDITION_
3 
4 #include <ros/ros.h>
5 #include <behaviortree_cpp_v3/behavior_tree.h>
6 #include <behaviortree_cpp_v3/tree_node.h>
7 #include <behaviortree_cpp_v3/basic_types.h>
8 #include <behaviortree_cpp_v3/leaf_node.h>
9 #include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
10 #include <moveit/planning_scene_interface/planning_scene_interface.h>
11 #include <moveit/move_group_interface/move_group_interface.h>
12 #include <moveit_msgs/ApplyPlanningScene.h>
13 #include <moveit/robot_model_loader/robot_model_loader.h>
14 #include <moveit/planning_scene/planning_scene.h>
15 #include <moveit/kinematic_constraints/utils.h>
16 
18 
21 class PositionCondition : public BT::ConditionNode {
22  public:
23 
25 
29  PositionCondition(const std::string& name, const BT::NodeConfiguration& config);
30 
32 
37  void init(const std::string& obj_name,tf2::Vector3& start_pos, moveit::planning_interface::PlanningSceneInterface* psi);
38 
40  inline static BT::PortsList providedPorts() { return {}; }
41 
42  protected:
44 
50  virtual BT::NodeStatus tick() override;
51 
52  std::string obj_name_;
53  moveit::planning_interface::PlanningSceneInterface* psi_;
54  tf2::Vector3 start_pos_;
55 };
56 
57 #endif
PositionCondition::start_pos_
tf2::Vector3 start_pos_
Start position.
Definition: position_condition.h:54
PositionCondition::tick
virtual BT::NodeStatus tick() override
tick function
Definition: position_condition.cpp:12
PositionCondition::psi_
moveit::planning_interface::PlanningSceneInterface * psi_
PSI.
Definition: position_condition.h:53
PositionCondition::providedPorts
static BT::PortsList providedPorts()
Required port inferface.
Definition: position_condition.h:40
PositionCondition
PositionCondition Node.
Definition: position_condition.h:21
PositionCondition::PositionCondition
PositionCondition(const std::string &name, const BT::NodeConfiguration &config)
PositionCondition constructor.
Definition: position_condition.cpp:3
PositionCondition::init
void init(const std::string &obj_name, tf2::Vector3 &start_pos, moveit::planning_interface::PlanningSceneInterface *psi)
Initialize Node.
Definition: position_condition.cpp:6
PositionCondition::obj_name_
std::string obj_name_
Object name.
Definition: position_condition.h:52


multi_cell_builder
Author(s): Matteo Anedda
autogenerated on Sun Apr 9 2023 23:59:51