CreateTransform Class

Create a geometry_msgs::msg::Transform and write it to the Blackboard. More...

Declaration

class moveit_pro::behaviors::CreateTransform { ... }

Included Headers

#include <create_transform.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override
	Contains the logic to create a valid geometry_msgs::msg::Transform message. More...

Public Static Functions Index

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

Description

Create a geometry_msgs::msg::Transform and write it to the Blackboard.

Data Port Name	Port Type	Object Type
translation_xyz	input	geometry_msgs::msg::Vector3
rotation_xyzw	input	geometry_msgs::msg::Quaternion
transform	output	geometry_msgs::msg::Transform

Ports accept the x;y;z / x;y;z;w semicolon literal form or a blackboard reference. The Behavior normalizes the quaternion before writing the transform.

Definition at line 29 of file create_transform.hpp.

Public Constructors

CreateTransform()

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

Construct a new CreateTransform behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Declaration at line 39 of file create_transform.hpp, definition at line 33 of file create_transform.cpp.

Public Member Functions

tick()

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

Contains the logic to create a valid geometry_msgs::msg::Transform message.

Returns

BT::NodeStatus Returns success if successful, else failure.

Declaration at line 54 of file create_transform.hpp, definition at line 57 of file create_transform.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 48 of file create_transform.hpp, definition at line 52 of file create_transform.cpp.

providedPorts()

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

static

Returns list of ports for this behavior.

Returns

BT::PortsList

Declaration at line 46 of file create_transform.hpp, definition at line 39 of file create_transform.cpp.

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

• create_transform.hpp
• create_transform.cpp

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Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.