CreateGraspableObject Class

Declaration

class moveit_pro::behaviors::CreateGraspableObject { ... }

Included Headers

#include <create_graspable_object.hpp>

Base class

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

Public Constructors Index

	CreateGraspableObject (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

Public Static Functions Index

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

Description

Creates a GraspableObject message (of a primitive Cuboid) given its pose given as individual points, the dimensions of the Cuboid, a frame ID, an ID for the newly created object, and whether any top, front, or side graspable faces should be generated.

Data Port Name	Port Type	Object Type
pose	Input	geometry_msgs::msg::PoseStamped
dx	Input	double
dy	Input	double
dz	Input	double
object_id	Input	std::string
generate_top_face	Input	bool
generate_front_face	Input	bool
generate_side_faces	Input	bool
cuboid_object	Output	moveit_studio_vision_msgs::msg::GraspableObject

Definition at line 35 of file create_graspable_object.hpp.

Public Constructors

CreateGraspableObject()

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

Declaration at line 38 of file create_graspable_object.hpp, definition at line 57 of file create_graspable_object.cpp.

Public Member Functions

tick()

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

Declaration at line 45 of file create_graspable_object.hpp, definition at line 84 of file create_graspable_object.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 43 of file create_graspable_object.hpp, definition at line 79 of file create_graspable_object.cpp.

providedPorts()

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

static

Declaration at line 41 of file create_graspable_object.hpp, definition at line 64 of file create_graspable_object.cpp.

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

• create_graspable_object.hpp
• create_graspable_object.cpp

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