CreateCollisionSpheresAtClosestPoints Class

This behavior receives point cloud data, filters points inside a cylinder around a reference point, and creates a sphere at each of the closest points within the cylinder. The spheres are returned as a moveit_msgs::msg::CollisionObject message. More...

Declaration

class moveit_pro::behaviors::CreateCollisionSpheresAtClosestPoints { ... }

Included Headers

#include <create_collision_spheres_at_closest_points.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

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

Private Member Functions Index

tl::expected< bool, std::string >	doWork () override
	Class derived from AsyncBehaviorBase must implement doWork() to perform the potentially-long-running process. More...
std::shared_future< tl::expected< bool, std::string > > &	getFuture () final
	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 ()
	Implementation of the required providedPorts() function for the behavior. More...
static BT::KeyValueVector	metadata ()
	Implementation of the metadata() function for displaying metadata, such as Behavior description and subcategory, in the MoveIt Studio Developer Tool. More...

Description

This behavior receives point cloud data, filters points inside a cylinder around a reference point, and creates a sphere at each of the closest points within the cylinder. The spheres are returned as a moveit_msgs::msg::CollisionObject message.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
reference_pose	input	geometry_msgs::msg::PoseStamped
filter_cylinder_radius	input	double
filter_cylinder_height	input	double
sphere_radius	input	double
closest_point_count	input	int
debug_output_markers	input	bool
marker_poses	output	std::vector<geometry_msgs::msg::PoseStamped>
marker_scale_xyz	output	std::vector<double>
collision_object	output	moveit_msgs::msg::CollisionObject

Definition at line 41 of file create_collision_spheres_at_closest_points.hpp.

Public Constructors

CreateCollisionSpheresAtClosestPoints()

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

Constructor for the CreateCollisionSpheresAtClosestPoints behavior.

Declaration at line 47 of file create_collision_spheres_at_closest_points.hpp, definition at line 107 of file create_collision_spheres_at_closest_points.cpp.

Private Member Functions

doWork()

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

virtual

Class derived from AsyncBehaviorBase must implement doWork() to perform the potentially-long-running process.

Declaration at line 66 of file create_collision_spheres_at_closest_points.hpp, definition at line 148 of file create_collision_spheres_at_closest_points.cpp.

getFuture()

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

inline virtual

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

Definition at line 70 of file create_collision_spheres_at_closest_points.hpp.

Private Member Attributes

future_

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

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

Definition at line 78 of file create_collision_spheres_at_closest_points.hpp.

Public Static Functions

metadata()

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

static

Implementation of the metadata() function for displaying metadata, such as Behavior description and subcategory, in the MoveIt Studio Developer Tool.

Declaration at line 59 of file create_collision_spheres_at_closest_points.hpp, definition at line 141 of file create_collision_spheres_at_closest_points.cpp.

providedPorts()

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

static

Implementation of the required providedPorts() function for the behavior.

Declaration at line 53 of file create_collision_spheres_at_closest_points.hpp, definition at line 114 of file create_collision_spheres_at_closest_points.cpp.

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

• create_collision_spheres_at_closest_points.hpp
• create_collision_spheres_at_closest_points.cpp

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