`AddOverageToPath` Class

Adds overage waypoints to both ends of a path by extending along a specified local axis. More...

Declaration

class moveit_pro::behaviors::AddOverageToPath { ... }

Included Headers

#include <add_overage_to_path.hpp>

Base class

class	BT::SyncActionNode

Public Constructors Index

	AddOverageToPath (const std::string &name, const BT::NodeConfiguration &config)
	Constructor. More...

Public Member Functions Index

BT::NodeStatus	tick () override
	Execute the behavior: extend the path with overage waypoints at both ends. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Declare input and output ports. More...

static BT::KeyValueVector	metadata ()
	Provide metadata for the MoveIt Studio Developer Tool UI. More...

Description

Adds overage waypoints to both ends of a path by extending along a specified local axis.

This behavior takes a vector of waypoints and extends the path by adding additional waypoints at both the start and end. The new waypoints maintain the same orientation as their respective end waypoints and are spaced evenly along the specified axis (default: Z-axis) over the specified overage distance. The extension direction is chosen to move away from the adjacent waypoint.

Data Port Name	Port Type	Object Type
waypoints	input	std::vector<geometry_msgs::msg::PoseStamped>
overage_distance	input	double
num_waypoints	input	int
axis	input	std::string
output_waypoints	output	std::vector<geometry_msgs::msg::PoseStamped>

Definition at line 33 of file add_overage_to_path.hpp.

Public Constructors