ComputeLinkPoseForwardKinematics Class

This Behavior computes the Cartesian Pose of a link from a given Joint State. If the Joint State message does not contain all of the joints for calculating the pose, it will use the existing joint states for the missing joint states. More...

Declaration

class moveit_pro::behaviors::ComputeLinkPoseForwardKinematics { ... }

Included Headers

#include <compute_link_pose_forward_kinematics.hpp>

Base class

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

Public Constructors Index

	ComputeLinkPoseForwardKinematics (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
tl::expected< geometry_msgs::msg::PoseStamped, std::string >	compute_link_pose_forward_kinematics (const moveit_msgs::msg::PlanningScene &planning_scene, const std::shared_ptr< moveit_pro::base::RobotModel > &robot_model, const sensor_msgs::msg::JointState &joint_state_for_fk, const std::string &link_name, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources, InfoAndWarnings &info_and_warnings) const

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Description

This Behavior computes the Cartesian Pose of a link from a given Joint State. If the Joint State message does not contain all of the joints for calculating the pose, it will use the existing joint states for the missing joint states.

Data Port Name	Port Type	Object Type
planning_scene	input	moveit_msgs::msg::PlanningScene
joint_state	input	sensor_msgs::msg::JointState
link_name	input	std::string
link_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 33 of file compute_link_pose_forward_kinematics.hpp.

Public Constructors

ComputeLinkPoseForwardKinematics()

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

Declaration at line 36 of file compute_link_pose_forward_kinematics.hpp, definition at line 56 of file compute_link_pose_forward_kinematics.cpp.

Public Member Functions

compute_link_pose_forward_kinematics()

tl::expected< geometry_msgs::msg::PoseStamped, std::string > moveit_pro::behaviors::ComputeLinkPoseForwardKinematics::compute_link_pose_forward_kinematics (const moveit_msgs::msg::PlanningScene & planning_scene, const std::shared_ptr< moveit_pro::base::RobotModel > & robot_model, const sensor_msgs::msg::JointState & joint_state_for_fk, const std::string & link_name, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources, InfoAndWarnings & info_and_warnings)

Declaration at line 52 of file compute_link_pose_forward_kinematics.hpp, definition at line 89 of file compute_link_pose_forward_kinematics.cpp.

tick()

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

Declaration at line 43 of file compute_link_pose_forward_kinematics.hpp, definition at line 186 of file compute_link_pose_forward_kinematics.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 41 of file compute_link_pose_forward_kinematics.hpp, definition at line 80 of file compute_link_pose_forward_kinematics.cpp.

providedPorts()

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

static

Declaration at line 39 of file compute_link_pose_forward_kinematics.hpp, definition at line 63 of file compute_link_pose_forward_kinematics.cpp.

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

• compute_link_pose_forward_kinematics.hpp
• compute_link_pose_forward_kinematics.cpp

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