Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
PositionCondition Class Reference

PositionCondition Node. More...

#include <position_condition.h>

Inheritance diagram for PositionCondition:
Inheritance graph
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Public Member Functions

void init (const std::string &obj_name, tf2::Vector3 &start_pos, moveit::planning_interface::PlanningSceneInterface *psi)
 Initialize Node. More...
 
 PositionCondition (const std::string &name, const BT::NodeConfiguration &config)
 PositionCondition constructor. More...
 

Static Public Member Functions

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

Protected Member Functions

virtual BT::NodeStatus tick () override
 tick function More...
 

Protected Attributes

std::string obj_name_
 Object name. More...
 
moveit::planning_interface::PlanningSceneInterface * psi_
 PSI. More...
 
tf2::Vector3 start_pos_
 Start position. More...
 

Detailed Description

PositionCondition Node.

Implements a pre-condition, in which Objects require a specific position to be processed.

Definition at line 21 of file position_condition.h.

Constructor & Destructor Documentation

◆ PositionCondition()

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

PositionCondition constructor.

Parameters
nameName displayed in Groot
configNode configuration

Definition at line 3 of file position_condition.cpp.

Member Function Documentation

◆ init()

void PositionCondition::init ( const std::string &  obj_name,
tf2::Vector3 &  start_pos,
moveit::planning_interface::PlanningSceneInterface *  psi 
)

Initialize Node.

Parameters
obj_nameName of Object
start_posPosition which is to check
psiPlanning scene interface reference

Definition at line 6 of file position_condition.cpp.

◆ providedPorts()

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

Required port inferface.

Definition at line 40 of file position_condition.h.

◆ tick()

BT::NodeStatus PositionCondition::tick ( )
overrideprotectedvirtual

tick function

Actual object position is retrived by name and checked againt the start position of the execution

Parameters
obj_nameName of Object
start_posPosition which is to check
psiPlanning scene interface reference

Definition at line 12 of file position_condition.cpp.

Member Data Documentation

◆ obj_name_

std::string PositionCondition::obj_name_
protected

Object name.

Definition at line 52 of file position_condition.h.

◆ psi_

moveit::planning_interface::PlanningSceneInterface* PositionCondition::psi_
protected

PSI.

Definition at line 53 of file position_condition.h.

◆ start_pos_

tf2::Vector3 PositionCondition::start_pos_
protected

Start position.

Definition at line 54 of file position_condition.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