execution.h
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1 #ifndef EXECUTION_
2 #define EXECUTION_
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/move_group_interface/move_group_interface.h>
10 #include <moveit_msgs/ApplyPlanningScene.h>
11 #include <moveit/robot_model_loader/robot_model_loader.h>
12 #include <moveit/planning_scene/planning_scene.h>
13 #include <moveit/kinematic_constraints/utils.h>
14 #include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
15 
18 
20 
23 class Execution : public BT::StatefulActionNode{
24  private:
25  moveit_task_constructor_msgs::ExecuteTaskSolutionGoal ets_;
27  std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* executions_;
28  std::vector<moveit_task_constructor_msgs::SubTrajectory>::iterator it_;
29 
30 
31  public:
32 
34 
38  Execution(const std::string& name, const BT::NodeConfiguration& config);
39 
41 
46  void init(std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* executions_, AbstractRobotDecorator* mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal& ets_);
47 
49  inline static BT::PortsList providedPorts() { return {}; }
50 
52  BT::NodeStatus onStart() override;
53 
55  BT::NodeStatus onRunning() override;
56 
58  void onHalted() override;
59 };
60 #endif
61 
62 
63 
Execution::it_
std::vector< moveit_task_constructor_msgs::SubTrajectory >::iterator it_
next iteration of ExecuteTaskSolutionGoal
Definition: execution.h:28
abstract_mediator.h
Execution::providedPorts
static BT::PortsList providedPorts()
Required port interface.
Definition: execution.h:49
abstract_robot_decorator.h
Execution::Execution
Execution(const std::string &name, const BT::NodeConfiguration &config)
constructor
Definition: execution.cpp:3
Execution
Execution node as StatefulActionNode.
Definition: execution.h:23
Execution::onHalted
void onHalted() override
Function called on halt.
Definition: execution.cpp:28
Execution::onRunning
BT::NodeStatus onRunning() override
Function called while node is in running state.
Definition: execution.cpp:18
Execution::onStart
BT::NodeStatus onStart() override
Function called at first execution.
Definition: execution.cpp:6
AbstractRobotDecorator
Abstract Robot Decorator.
Definition: abstract_robot_decorator.h:22
Execution::init
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.
Definition: execution.cpp:30
Execution::mr_reference_
AbstractRobotDecorator * mr_reference_
Reference to the robot.
Definition: execution.h:26
Execution::ets_
moveit_task_constructor_msgs::ExecuteTaskSolutionGoal ets_
ExecuteTaskSolutionGoal, which is a reference to trajetory and planningscene.
Definition: execution.h:25
Execution::executions_
std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > * executions_
trajetory and planningscene mapped to robot
Definition: execution.h:27


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