ComputeSignedDistanceField Class
A Behavior to compute a propagation (signed) distance field from a planning scene. More...
Declaration
Included Headers
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
| ComputeSignedDistanceField (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
Private Member Functions Index
| tl::expected< bool, std::string > | doWork () override |
|
User-implemented function which handles executing the potentially-long-running process. More... | |
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
|
Gets the shared future which is used to monitor the progress of the async process. 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 () |
| static BT::KeyValueVector | metadata () |
Description
A Behavior to compute a propagation (signed) distance field from a planning scene.
This async Behavior is intended to run once after the planning scene is finalized so that downstream collision-aware planners can reuse the resulting field without rebuilding it. Each world collision object in the planning scene is voxelized into a propagation distance field over an axis-aligned bounding box defined in the planning frame. When signed_distance is enabled, distances are also propagated negatively inside obstacles.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| planning_scene | input | moveit_msgs::msg::PlanningScene |
| bbox_min | input | std::vector<double> |
| bbox_max | input | std::vector<double> |
| resolution | input | double |
| max_distance | input | double |
| signed_distance | input | bool |
| link_names | input | std::vector<std::string> |
| sdf | output | std::shared_ptr<const moveit_pro::base::distance_field::DistanceField> |
Definition at line 40 of file compute_signed_distance_field.hpp.
Public Constructors
ComputeSignedDistanceField()
|
Declaration at line 43 of file compute_signed_distance_field.hpp, definition at line 60 of file compute_signed_distance_field.cpp.
Private Member Functions
doWork()
| virtual |
User-implemented function which handles executing the potentially-long-running process.
This function is called within an async process in a separate thread.
- Returns
A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.
Declaration at line 51 of file compute_signed_distance_field.hpp, definition at line 98 of file compute_signed_distance_field.cpp.
getFuture()
| inline virtual |
Gets the shared future which is used to monitor the progress of the async process.
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
This exists to prevent destruction of the derived class while the async process is still in-progress. If the derived class is destroyed, the definitions of the functions used within doWork() will be destroyed too, which will result in the virtual functions in the base class being called instead and cause a fault.
This function will force derived classes to add an instance of this type and return a reference to it. The base class can then use this virtual function to access the shared future in functions like onStart.
By adding this virtual function we're properly demonstrating how this future depends on things from the derived class and the natural flow of object lifetimes will do the hard work for us. The std::shared_future destructor will get the value of the future before the derived class is destructed assuming it's the last reference to the shared state. Doing it this way means neither the base nor derived class should need to implement a destructor which is a nice property to have.
- Returns
Returns the shared_future, which should be owned by the child class.
Definition at line 53 of file compute_signed_distance_field.hpp.
Private Member Attributes
future_
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member.
Definition at line 59 of file compute_signed_distance_field.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 48 of file compute_signed_distance_field.hpp, definition at line 92 of file compute_signed_distance_field.cpp.
providedPorts()
| static |
Declaration at line 46 of file compute_signed_distance_field.hpp, definition at line 66 of file compute_signed_distance_field.cpp.
The documentation for this class was generated from the following files:
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