include
bt
position_condition.h
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#ifndef POSITION_CONDITION_
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#define POSITION_CONDITION_
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#include <ros/ros.h>
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#include <behaviortree_cpp_v3/behavior_tree.h>
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#include <behaviortree_cpp_v3/tree_node.h>
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#include <behaviortree_cpp_v3/basic_types.h>
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#include <behaviortree_cpp_v3/leaf_node.h>
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#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
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#include <moveit/planning_scene_interface/planning_scene_interface.h>
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#include <moveit/move_group_interface/move_group_interface.h>
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#include <moveit_msgs/ApplyPlanningScene.h>
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#include <moveit/robot_model_loader/robot_model_loader.h>
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#include <moveit/planning_scene/planning_scene.h>
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#include <moveit/kinematic_constraints/utils.h>
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class
PositionCondition
:
public
BT::ConditionNode {
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public
:
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PositionCondition
(
const
std::string& name,
const
BT::NodeConfiguration& config);
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void
init
(
const
std::string& obj_name,tf2::Vector3& start_pos, moveit::planning_interface::PlanningSceneInterface* psi);
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inline
static
BT::PortsList
providedPorts
() {
return
{}; }
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protected
:
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virtual
BT::NodeStatus
tick
()
override
;
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std::string
obj_name_
;
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moveit::planning_interface::PlanningSceneInterface*
psi_
;
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tf2::Vector3
start_pos_
;
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};
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#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