Public Member Functions | Static Public Member Functions | Private Attributes | List of all members
Execution Class Reference

Execution node as StatefulActionNode. More...

#include <execution.h>

Inheritance diagram for Execution:
Inheritance graph
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Public Member Functions

 Execution (const std::string &name, const BT::NodeConfiguration &config)
 constructor More...
 
void init (std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> *executions_, AbstractRobotDecorator *mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal &ets_)
 Initialize Node. More...
 
void onHalted () override
 Function called on halt. More...
 
BT::NodeStatus onRunning () override
 Function called while node is in running state. More...
 
BT::NodeStatus onStart () override
 Function called at first execution. More...
 

Static Public Member Functions

static BT::PortsList providedPorts ()
 Required port interface. More...
 

Private Attributes

moveit_task_constructor_msgs::ExecuteTaskSolutionGoal ets_
 ExecuteTaskSolutionGoal, which is a reference to trajetory and planningscene. More...
 
std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > * executions_
 trajetory and planningscene mapped to robot More...
 
std::vector< moveit_task_constructor_msgs::SubTrajectory >::iterator it_
 next iteration of ExecuteTaskSolutionGoal More...
 
AbstractRobotDecoratormr_reference_
 Reference to the robot. More...
 

Detailed Description

Execution node as StatefulActionNode.

Execution node that maintains its state (success, failure or execution). It implements robot task execution as a model in which robots can be treated as threads. It represents a container of successive tasks that a robot has to execute and stores a trajectory and a planning scene per task and robot.

Definition at line 23 of file execution.h.

Constructor & Destructor Documentation

◆ Execution()

Execution::Execution ( const std::string &  name,
const BT::NodeConfiguration &  config 
)

constructor

Parameters
nameName displayed in Groot
configNode configuration

Definition at line 3 of file execution.cpp.

Member Function Documentation

◆ init()

void Execution::init ( std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> *  executions_,
AbstractRobotDecorator mr_reference_,
moveit_task_constructor_msgs::ExecuteTaskSolutionGoal &  ets_ 
)

Initialize Node.

Parameters
executions_
mr_reference_
ets_

Definition at line 30 of file execution.cpp.

◆ onHalted()

void Execution::onHalted ( )
override

Function called on halt.

Definition at line 28 of file execution.cpp.

◆ onRunning()

BT::NodeStatus Execution::onRunning ( )
override

Function called while node is in running state.

Definition at line 18 of file execution.cpp.

◆ onStart()

BT::NodeStatus Execution::onStart ( )
override

Function called at first execution.

Definition at line 6 of file execution.cpp.

◆ providedPorts()

static BT::PortsList Execution::providedPorts ( )
inlinestatic

Required port interface.

Definition at line 49 of file execution.h.

Member Data Documentation

◆ ets_

moveit_task_constructor_msgs::ExecuteTaskSolutionGoal Execution::ets_
private

ExecuteTaskSolutionGoal, which is a reference to trajetory and planningscene.

Definition at line 25 of file execution.h.

◆ executions_

std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> >* Execution::executions_
private

trajetory and planningscene mapped to robot

Definition at line 27 of file execution.h.

◆ it_

std::vector<moveit_task_constructor_msgs::SubTrajectory>::iterator Execution::it_
private

next iteration of ExecuteTaskSolutionGoal

Definition at line 28 of file execution.h.

◆ mr_reference_

AbstractRobotDecorator* Execution::mr_reference_
private

Reference to the robot.

Definition at line 26 of file execution.h.


The documentation for this class was generated from the following files:


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