CheckCuboidSimilarity Class

Check if two GraspableObjects are similar within some tolerance. More...

Declaration

class moveit_pro::behaviors::CheckCuboidSimilarity { ... }

Included Headers

#include <check_cuboid_similarity.hpp>

Base class

class	AsyncBehaviorBase
	A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More...

Public Constructors Index

	CheckCuboidSimilarity (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Construct a new CheckCuboidSimilarity behavior. More...

Private Member Functions Index

tl::expected< bool, std::string >	doWork () override
	Calls compareObjects to check object similarity. More...
tl::expected< bool, std::string >	compareObjects ()
	Retrieve inputs from data ports and evaluate object similarity. More...
std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member. More...

Private Member Attributes Index

std::shared_future< tl::expected< bool, std::string > >	future_
	Classes derived from AsyncBehaviorBase must have this shared_future as a class member. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Returns list of ports for this behavior. More...
static BT::KeyValueVector	metadata ()

Description

Check if two GraspableObjects are similar within some tolerance.

Definition at line 40 of file check_cuboid_similarity.hpp.

Public Constructors

CheckCuboidSimilarity()

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

explicit

Construct a new CheckCuboidSimilarity behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Declaration at line 50 of file check_cuboid_similarity.hpp, definition at line 71 of file check_cuboid_similarity.cpp.

Private Member Functions

compareObjects()

tl::expected< bool, std::string > moveit_pro::behaviors::CheckCuboidSimilarity::compareObjects ()

Retrieve inputs from data ports and evaluate object similarity.

Returns

True if the objects are similar and false if they are different. Returns an error message if the objects could not be compared.

Declaration at line 74 of file check_cuboid_similarity.hpp, definition at line 108 of file check_cuboid_similarity.cpp.

doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::CheckCuboidSimilarity::doWork ()

virtual

Calls compareObjects to check object similarity.

Returns

Returns the bool result of compareObjects if the comparison succeeded. Returns an error result if the comparison did not succeed.

Declaration at line 67 of file check_cuboid_similarity.hpp, definition at line 95 of file check_cuboid_similarity.cpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::CheckCuboidSimilarity::getFuture ()

inline virtual

Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Definition at line 77 of file check_cuboid_similarity.hpp.

Private Member Attributes

future_

std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::CheckCuboidSimilarity::future_

Classes derived from AsyncBehaviorBase must have this shared_future as a class member.

Definition at line 83 of file check_cuboid_similarity.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 59 of file check_cuboid_similarity.hpp, definition at line 89 of file check_cuboid_similarity.cpp.

providedPorts()

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

static

Returns list of ports for this behavior.

Returns

BT::PortsList

Declaration at line 57 of file check_cuboid_similarity.hpp, definition at line 77 of file check_cuboid_similarity.cpp.

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

• check_cuboid_similarity.hpp
• check_cuboid_similarity.cpp

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