`AveragePoseStampedVector` Class

Returns the average PoseStamped from a vector of PoseStamped. More...

Declaration

class moveit_pro::behaviors::AveragePoseStampedVector { ... }

Included Headers

#include <average_pose_stamped_vector.hpp>

Base class

class	SharedResourcesNode<BehaviorTreeNodeT>
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

Public Constructors Index

	AveragePoseStampedVector (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()


static BT::KeyValueVector	metadata ()

Description

Returns the average PoseStamped from a vector of PoseStamped.

Data Port Name	Port Type	Object Type
pose_stamped_vector	input	std::vector<geometry_msgs::msg::PoseStamped>
reference_frame	input	std::string
average_pose_stamped	output	geometry_msgs::msg::PoseStamped

If the optional "reference_frame" port is set, each pose is transformed into that frame at the pose's timestamp before averaging, and the average pose is returned in that frame. Set it to a fixed frame whenever the poses were captured in a moving frame, such as a camera frame. If "reference_frame" is empty, all poses must share the same frame ID, and the average is returned in that frame.

Definition at line 30 of file average_pose_stamped_vector.hpp.

Public Constructors