CalculatePoseOffset Class

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. More...

Declaration

class moveit_pro::behaviors::CalculatePoseOffset { ... }

Included Headers

#include <calculate_pose_offset.hpp>

Base class

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

Public Constructors Index

	CalculatePoseOffset (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for CalculatePoseOffset behavior. More...

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Custom tree nodes that have input and/or output ports must define them in this static function. More...
static BT::KeyValueVector	metadata ()

Description

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.

This behavior will fail if the frame_id for the source and destination frames are not connected.

Data Port Name	Port Type	Object Type
source_pose	input	geometry_msgs::msg::PoseStamped
destination_pose	input	geometry_msgs::msg::PoseStamped
source_to_destination_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 33 of file calculate_pose_offset.hpp.

Public Constructors

CalculatePoseOffset()

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

Constructor for CalculatePoseOffset behavior.

Parameters

name	Name of the node. Must match the name used for this node in the behavior tree definition file (the .xml file).
config	Node configuration. Only used here because the BehaviorTree.CPP expects constructor signature with name and config first before custom constructor parameters.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_pro::behaviors::SharedResourcesNode.

Declaration at line 47 of file calculate_pose_offset.hpp, definition at line 86 of file calculate_pose_offset.cpp.

Public Member Functions

tick()

BT::NodeStatus moveit_pro::behaviors::CalculatePoseOffset::tick ()

Declaration at line 62 of file calculate_pose_offset.hpp, definition at line 107 of file calculate_pose_offset.cpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::CalculatePoseOffset::metadata ()

static

Declaration at line 60 of file calculate_pose_offset.hpp, definition at line 102 of file calculate_pose_offset.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::CalculatePoseOffset::providedPorts ()

static

Custom tree nodes that have input and/or output ports must define them in this static function.

This function must be static. It is a requirement set by the BehaviorTree.CPP library.

Returns

List of ports with the names and port info. The return value is for the internal use of the behavior tree.

Declaration at line 58 of file calculate_pose_offset.hpp, definition at line 92 of file calculate_pose_offset.cpp.

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The documentation for this class was generated from the following files:

• calculate_pose_offset.hpp
• calculate_pose_offset.cpp

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