This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 123]

►CActionClientBehaviorBase
Cmoveit_studio::behaviors::CalibratePoseAction	Calls a robot_calibration_msgs::action::CalibratePose action server and outputs the results on the calibrated_poses port. NOTE: For now this behavior only supports sending a single frame for calibration
Cmoveit_studio::behaviors::ExecuteMTCTask	Takes an MTC Solution message via an input data port, and executes the lowest-cost trajectory in that Solution using the MTC ExecuteTaskSolution MoveGroup capability's `/execute_task_solution` action server
Cmoveit_studio::behaviors::GetMasks2DAction	Calls an action server that uses moveit_studio_vision_msgs::action::GetMasks2D interface and outputs the results on the masks2d port
Cmoveit_studio::behaviors::MoveGripperAction	Actuate a gripper through its driver node's GripperCommand action. Given the name of the action topic and a target gripper position, move the gripper to the specified position
Cmoveit_studio::behaviors::MoveToJointState	Given a JointState message and a planning group, move the group to the given joint values
Cmoveit_studio::behaviors::MoveToPose	Given a stamped pose message, move to that pose
Cmoveit_studio::behaviors::MoveToWaypoint	Given a named waypoint, move to that waypoint
►CBT::ActionNodeBase
Cmoveit_studio::behaviors::WaitAndPopSolutionQueue	Pops the MTC solution queue to get the next solution to be processed
CAdmittanceControllerParams	Struct representing admittance controller parameters
►CAsyncBehaviorBase
►Cmoveit_studio::behaviors::TeleoperateBase< control_msgs::msg::JointJog >
Cmoveit_studio::behaviors::TeleoperateJointJog	Specialization of TeleoperateBase for joint jog commands
►Cmoveit_studio::behaviors::TeleoperateBase< geometry_msgs::msg::TwistStamped >
Cmoveit_studio::behaviors::TeleoperateTwist	Specialization of TeleoperateBase for Cartesian twist commands
Cmoveit_studio::behaviors::CheckCuboidSimilarity	Check if two GraspableObjects are similar within some tolerance
Cmoveit_studio::behaviors::CropPointsInBox	Given a point cloud and a box-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid
Cmoveit_studio::behaviors::DetectApriltags	Detects AprilTag markers from an image
►Cmoveit_studio::behaviors::AsyncBehaviorBase
Cmoveit_studio::behaviors::FindMaskedObjects	Finds objects by segmenting a point cloud using a set of 2D mask images
Cmoveit_studio::behaviors::GetPlanUsingTAMP	Perform Task and Motion Planning (TAMP) to generate a plan, given a PDDL problem. The PDDL domain is assumed to exist in the domain expert (for this Behavior to get a plan from a task planner, this Behavior will retrieve the domain from the domain expert)
Cmoveit_studio::behaviors::PlanMTCTask	Takes a shared pointer to an existing MTC Task object via an input data port, plans the Task, and sets the solution with the lowest overall cost as an output data port. A service client sends over all the solutions to the MTC Solution Manager node which can be used for debugging
Cmoveit_studio::behaviors::SaveImageToFile	Save an image to disk as a .png file. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.png
Cmoveit_studio::behaviors::SavePointCloudToFile	Save a point cloud .pcd file to disk. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd
Cmoveit_studio::behaviors::SendPointCloudToUI	Crop and filter a point cloud using MoveIt's sensor configuration, then publish it to a topic monitored by the UI
Cmoveit_studio::behaviors::TeleoperateBase< CommandT >	This is a special Behavior to enable manual teleoperation using MoveIt Servo through the Objective Server
CYAML::convert< AdmittanceControllerParams >	Utility to decode YAML node as an AdmittanceControllerParams struct
CYAML::convert< OrientationConstraintParams >	Utility to decode YAML node as an OrientationConstraintParams struct
CYAML::convert< TaskPlanParser >	Utility to decode YAML node as a TaskPlanParser struct
►CGetMessageFromTopicBehaviorBase
Cmoveit_studio::behaviors::GetCameraInfo	Capture camera information. The name of the topic containing the camera information is set through the "topic_name" parameter, and the resulting information is available on the "message_out" output port
Cmoveit_studio::behaviors::GetImage	Capture an image. The name of the topic containing the image is set through the "topic_name" parameter, and the resulting image is available on the "message_out" output port
Cmoveit_studio::behaviors::GetPointCloud	Capture a point cloud. The name of the topic containing the point cloud is set through the "topic_name" parameter, and the resulting point cloud is available on the "message_out" output port
Cmoveit_studio::behaviors::ObjectWithDistance	Associates a GraspableObject with a distance metric
COrientationConstraintParams	Struct representing orientation constraint params
►Cmoveit_studio::behaviors::ServiceClientBehaviorBase
Cmoveit_studio::behaviors::GetCurrentPlanningScene	Get the current planning scene state from the MoveIt PlanningSceneMonitor by sending a /get_planning_scene service request
Cmoveit_studio::behaviors::GetParameterValueFromUser< T >	This is a template class to get parameter values which are stored in a map in the Objective Server node. The map contains parameter overrides which are specified when creating the DoObjectiveSequence goal. Given a parameter name, send a service request to the Objective Server to retrieve user input value for the parameter named `parameter_name`
Cmoveit_studio::behaviors::ModifyObjectInPlanningScene	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to add a collision object representing a GraspableObject to the planning scene
Cmoveit_studio::behaviors::UpdatePlanningSceneService	Uses the service advertised by the PointCloudServiceOctomapUpdater plugin to apply a point cloud to the planning scene collision octomap and wait until the update has been applied
►CServiceClientBehaviorBase
►Cmoveit_studio::behaviors::GetParameterValueFromUser< std::string >
Cmoveit_studio::behaviors::GetStringFromUser	Given a parameter name, send a service request to the Objective Server to retrieve user input value of type string for the parameter named `parameter_name`
►Cmoveit_studio::behaviors::GetParameterValueFromUser< int >
Cmoveit_studio::behaviors::GetIntFromUser	Given a parameter name, send a service request to the Objective Server to retrieve user input value of type int for the parameter named `parameter_name`
►Cmoveit_studio::behaviors::GetParameterValueFromUser< sensor_msgs::msg::JointState >
Cmoveit_studio::behaviors::GetJointStateFromUser	Given a parameter name, send a service request to the Objective Server to retrieve user input value of type sensor_msgs::msg::JointState for the parameter named `parameter_name`
►Cmoveit_studio::behaviors::GetParameterValueFromUser< geometry_msgs::msg::PoseStamped >
Cmoveit_studio::behaviors::GetPoseFromUser	Given a parameter name, send a service request to the Objective Server to retrieve user input value of type geometry_msgs::msg::PoseStamped for the parameter named `parameter_name`
Cmoveit_studio::behaviors::ActivateControllers	Activate controllers, whose names are set by the "controller_names" parameter
Cmoveit_studio::behaviors::CallTriggerService	Call a service that accepts a std_srvs/srv/Trigger message. The name of the service is set through the "service_name" parameter
Cmoveit_studio::behaviors::ClearSnapshot	Sends a request to clear the existing Octomap and Pointcloud snapshots
►Cmoveit_studio::behaviors::SharedResourcesNode
Cmoveit_studio::behaviors::AveragePoseStamped	When called multiple times in a loop this behavior will calculate the average of a Pose Stamped ROS message. If the current sample exceeds a "max_distance" or "max_rotation" (specified as input ports) from the current average pose the behavior will return FAILURE
Cmoveit_studio::behaviors::BreakpointSubscriber	A behavior that subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an objective
Cmoveit_studio::behaviors::CalculatePoseOffset	Calculates the offset transform from source_pose to destination_pose. This can be used to measure the distance between two poses and returns the result relative to the source_pose
Cmoveit_studio::behaviors::CreateBehaviorTreeFromTaskPlan	Create and execute a Behavior Tree from a task plan. `action_mappings_file` is a path to a YAML file that provides mappings between actions in the PDDL domain and Subtrees that can actually be executed. The resulting Behavior Tree will be saved in the Objectives directory as <behavior_tree_name>.xml
Cmoveit_studio::behaviors::CreateJointState	Create a sensor_msgs::msg::JointState and writes it to the Blackboard
Cmoveit_studio::behaviors::CreateStampedPose	Create a geometry_msgs::msg::PoseStamped and writes it to the Blackboard
Cmoveit_studio::behaviors::EditWaypoint	Use the /edit_waypoints service to save the robot's current state as a new named waypoint or erase an existing waypoint. The name of the waypoint to save or delete is set through the "waypoint_name" behavior parameter. The operation to perform on the waypoint is set through the "waypoint_operation" behavior parameter, which must be set to either "save" or "erase"
Cmoveit_studio::behaviors::FindSingularCuboids	Finds well-singulated cuboids supported by a surface within a point cloud
Cmoveit_studio::behaviors::GetClosestObjectToPose	Given a collection of GraspableObjects, find the one that's closest to the provided pose
Cmoveit_studio::behaviors::GetDetectionPose	Gets the stamped pose of an object detection given a label or ID, if one exists
Cmoveit_studio::behaviors::GetDoorHandlePose	This class represents a behavior that can calculate the pose of a door lever handle along with its height and length. The convention is that the Z-axis of the pose represents the axis of rotation of the handle. The X-axis points along the handle and points toward the door hinge
Cmoveit_studio::behaviors::GetLatestTransform	Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior
Cmoveit_studio::behaviors::GetSynchronizedCameraTopics	Get different camera topics time-synchronized and populate them in output ports
Cmoveit_studio::behaviors::InitializeMTCTask	Creates a shared pointer to a new MTC Task object, populates it with global settings (for example, the names of controllers to enable by default when executing trajectories planned by this Task), and sets it as an output data port
Cmoveit_studio::behaviors::InitializeMotionConstraints	Creates a shared pointer to a new moveit_msgs::msg::Constraints and writes it to the Blackboard
Cmoveit_studio::behaviors::IsConstraintSatisfied	Check if the robot's current state satisfies a visibility kinematic constraint relative to an object
Cmoveit_studio::behaviors::IsForceWithinThreshold	Checks for wrench messages from a topic and report failure if it exceed a threshold value
Cmoveit_studio::behaviors::IsUserAvailable	Checks for the presence of a user interface by checking if the `/trajectory_bridge` ROS node exists
Cmoveit_studio::behaviors::LoadImageFromFile	Loads an image from a file and writes it to an output data port
Cmoveit_studio::behaviors::LoadObjectiveParameters	Loads the configuration parameters for a given objective. The configuration file name is given as an input port parameters to this behavior. The parameters are loaded once per objective execution. To reload the parameter from the file, just execute the objective again
Cmoveit_studio::behaviors::LoadPointCloudFromFile	Loads a point cloud from a .pcd file and write it to an output data port
Cmoveit_studio::behaviors::LogMessage	Logs a user specified message via the LoggerROS class. ROS 2 log severity of message specified by log_level
Cmoveit_studio::behaviors::PublishPointCloud	Publish a point cloud
Cmoveit_studio::behaviors::ResetPlanningSceneObjects	Uses the service provided by the ApplyPlanningScene MoveGroup capability plugin to remove all objects which were added to the planning scene, including objects that are attached to the robot
Cmoveit_studio::behaviors::RetrieveWaypoint	Given a named waypoint, sends a service request to the Agent WaypointManager to retrieve the joint state associated with that waypoint
Cmoveit_studio::behaviors::SaveCurrentState	Use the /get_planning_scene service from move_group to save the robot's current state
Cmoveit_studio::behaviors::SetupMTCAffordanceTemplate	A MTC-based behavior to execute motion based on an affordance template (AT)
Cmoveit_studio::behaviors::SetupMTCApproachGrasp	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to approach the object
Cmoveit_studio::behaviors::SetupMTCCartesianMoveToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a cartesian motion plan to that joint state
Cmoveit_studio::behaviors::SetupMTCCartesianSequence	Given an existing MTC Task object and a sequence of target poses, appends MTC stages to plan a sequence of cartesian motions between the poses
Cmoveit_studio::behaviors::SetupMTCGenerateCuboidGrasps	Given an existing MTC Task object and a target object, appends MTC stages to generate cuboid grasp poses
Cmoveit_studio::behaviors::SetupMTCGenerateVacuumGrasps	Given an existing MTC Task object and a target object, appends MTC stages to generate vacuum grasp poses on its planar surfaces
Cmoveit_studio::behaviors::SetupMTCInterpolateToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a joint-interpolated motion plan to that joint state
Cmoveit_studio::behaviors::SetupMTCMoveAlongFrameAxis	Given an existing MTC Task object, frame name, axis, and move distance, appends MTC stages to describe a cartesian motion plan in the frame's axis with the specified distance
Cmoveit_studio::behaviors::SetupMTCMoveToJointState	Given an existing MTC Task object and a joint state, appends MTC stages to describe a freespace motion plan to that joint state
Cmoveit_studio::behaviors::SetupMTCMoveToNamedState	Given an existing MTC Task object and the name of a known state, appends MTC stages to describe a freespace motion plan to that state
Cmoveit_studio::behaviors::SetupMTCMoveToPose	Given an existing MTC Task object and a target pose, appends MTC stages to describe a freespace motion plan to that target pose
Cmoveit_studio::behaviors::SetupMTCOpenLeverHandleDoor	Configures MTC stages to open a lever-handled door by turning the handle and pushing the door away from the robot
Cmoveit_studio::behaviors::SetupMTCPickObject	Given an existing MTC Task object and a target grasp pose, appends MTC stages to describe a motion plan to approach, grasp and lift an object at that pose
Cmoveit_studio::behaviors::SetupMTCRetractFromGrasp	Given an existing MTC Task object and a target object, appends MTC stages to describe a motion plan to retract after grasping the object
Cmoveit_studio::behaviors::SetupMTCUpdateGroupCollisionRule	Given an MTC Task, append an MTC Stage that modifies the planning scene's Allowed Collision Matrix to permit or forbid collision between a planning scene object and the links of a named robot planning group while planning subsequent Stages
Cmoveit_studio::behaviors::SplitMTCSolution	Given an MTC Solution message and an index, create two new MTC Solution messages by splitting the subtrajectories of the input Solution at the specified index. Outputs the new Solutions onto output data ports
Cmoveit_studio::behaviors::StopwatchEnd	Measure the difference between an input timepoint and the current timepoint, and emit a log message which states the time elapsed
Cmoveit_studio::behaviors::TransformPose	Transforms a stamped pose given an input translation and orientation
Cmoveit_studio::behaviors::TransformPoseFrame	Transforms the reference frame of an input stamped pose to the frame specified by a frame ID, along with the position/orientation transformation that entails
Cmoveit_studio::behaviors::TransformPoseFromYaml	Transforms a stamped pose given an input yaml file that contains the translation and orientation that should be applied to the input. NOTE: The `pose_parameters` port is normally provided by a LoadObjectiveParameter Behavior
Cmoveit_studio::behaviors::UpdateAdmittanceController	Updates the parameters of an existing admittance controller
Cmoveit_studio::behaviors::WaitForUserTrajectoryApproval	Takes a shared pointer to an MTC Solution object via an input data port, and publishes the lowest-cost trajectory in that Solution on MTC's `/solution` introspection topic. Creates a SetBool service server on the `/execute_behavior_solution` topic and waits to receive a request containing `data: true` before succeeding
Cmoveit_studio::behaviors::WriteCalibratedPoseToYAML	Write pose (x,y,z, roll, pitch, yaw) to YAML file. This behavior is meant to be called after the Calibrate Pose Action. TODO: Make this behavior more generic. Note: The behavior saves the calibrated_pose into the ~/.config/moveit_studio/calibration folder
Cmoveit_studio::behaviors::WritePoseToYAML	Write contents of a geometry_msgs::msg::Pose (x,y,z,qx,qy,qz.qw) to YAML file. Note: The behavior saves the pose into the `~/.config/moveit_studio/robot_config/objectives` folder
►CSharedResourcesNode
Cmoveit_studio::behaviors::AppendOrientationConstraint	Appends an orientation constraint (based on the values specified in the input port's yaml file) to an existing constraints message
►CSharedResourcesNodeLoaderBase
Cmoveit_studio::behaviors::CoreBehaviorsLoader
►CBT::StatefulActionNode
Cmoveit_studio::behaviors::WaitForDuration	Wait for a specified duration before succeeding
►CBT::SyncActionNode
Cmoveit_studio::behaviors::AddPoseStampedToVector	Adds a Cartesian pose to a sequence of Cartesian poses and stores the sequence to the blackboard
Cmoveit_studio::behaviors::BiasedCoinFlip	Simulates flipping a biased coin with the specified probability of success provided via the input port
Cmoveit_studio::behaviors::CreateCollisionObject
Cmoveit_studio::behaviors::GetDrawerAxisFromSelection	Given an input PoseStamped representing a grasp pose selected on a drawer handle, output three PoseStampeds that define a screw motion to open the drawer
Cmoveit_studio::behaviors::GetHingeAxisFromSurfaceSelection	Arrange input poses into the order expected by the affordance template behavior
Cmoveit_studio::behaviors::PushToSolutionQueue	Push a new MTC solution to the solution queue
Cmoveit_studio::behaviors::SetupMTCCurrentState	Given an existing MTC Task object, appends an MTC CurrentState Stage to the Task
Cmoveit_studio::behaviors::SetupMTCFixedJointState	Given an existing MTC Task object, appends an MTC FixedState Stage to the Task
Cmoveit_studio::behaviors::SetupMTCFromSolution	Given an existing MTC Task object, appends an MTC Stage to the Task that initializes it with the final planning scene of a given solution
Cmoveit_studio::behaviors::StopwatchBegin	Saves the current epoch time as a timepoint to a data port
CTaskPlanParser