PositionCondition Node. More...
#include <position_condition.h>

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... | |
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.
| PositionCondition::PositionCondition | ( | const std::string & | name, |
| const BT::NodeConfiguration & | config | ||
| ) |
PositionCondition constructor.
| name | Name displayed in Groot |
| config | Node configuration |
Definition at line 3 of file position_condition.cpp.
| void PositionCondition::init | ( | const std::string & | obj_name, |
| tf2::Vector3 & | start_pos, | ||
| moveit::planning_interface::PlanningSceneInterface * | psi | ||
| ) |
Initialize Node.
| obj_name | Name of Object |
| start_pos | Position which is to check |
| psi | Planning scene interface reference |
Definition at line 6 of file position_condition.cpp.
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inlinestatic |
Required port inferface.
Definition at line 40 of file position_condition.h.
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overrideprotectedvirtual |
tick function
Actual object position is retrived by name and checked againt the start position of the execution
| obj_name | Name of Object |
| start_pos | Position which is to check |
| psi | Planning scene interface reference |
Definition at line 12 of file position_condition.cpp.
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protected |
Object name.
Definition at line 52 of file position_condition.h.
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protected |
PSI.
Definition at line 53 of file position_condition.h.
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protected |
Start position.
Definition at line 54 of file position_condition.h.