CropOrRemovePointsInBox Class Template
Behavior for either cropping or removing points from a box-shaped region of interest. The dimensions and size of the region of interest are defined relative to its centroid. More...
Declaration
class moveit_pro::behaviors::CropOrRemovePointsInBox<mode> { ... }
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
template <CropOrRemovePointsInBoxModes mode> | |
| CropOrRemovePointsInBox (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
Public Member Functions Index
template <CropOrRemovePointsInBoxModes mode> | |
| BT::PortsList | providedPorts () |
template <CropOrRemovePointsInBoxModes mode> | |
| BT::PortsList | providedPorts () |
Private Member Functions Index
template <CropOrRemovePointsInBoxModes mode> | |
| auto | doWork () override -> tl::expected< bool, std::string > |
|
Retrieves required input values, looks up the transform between the box reference frame and the point cloud origin frame, performs the filter operation, and writes the filtered point cloud to the output data port. More... | |
template <CropOrRemovePointsInBoxModes mode> | |
| auto | getFuture () override -> std::shared_future< tl::expected< bool, std::string > > & |
|
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member. More... | |
Private Member Attributes Index
template <CropOrRemovePointsInBoxModes mode> | |
| 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
template <CropOrRemovePointsInBoxModes mode> | |
| static BT::PortsList | providedPorts () |
template <CropOrRemovePointsInBoxModes mode> | |
| static BT::KeyValueVector | metadata () |
Description
Behavior for either cropping or removing points from a box-shaped region of interest. The dimensions and size of the region of interest are defined relative to its centroid.
The centroid pose is interpreted in its own header.frame_id, and the point cloud is transformed into that frame at the cloud's timestamp. The box size is a 3-element {X, Y, Z} vector of full extents in meters, centered on the centroid pose.
For CropPointsInBox:
| Data Port Name | Port Type | Object Type |
|---|---|---|
| point_cloud | input | sensor_msgs::msg::PointCloud2 |
| crop_box_centroid_pose | input | geometry_msgs::msg::PoseStamped |
| crop_box_size | input | std::vector<double> |
| point_cloud_cropped | output | sensor_msgs::msg::PointCloud2 |
For RemovePointsInBox:
| Data Port Name | Port Type | Object Type |
|---|---|---|
| point_cloud | input | sensor_msgs::msg::PointCloud2 |
| remove_box_centroid_pose | input | geometry_msgs::msg::PoseStamped |
| remove_box_size | input | std::vector<double> |
| point_cloud_culled | output | sensor_msgs::msg::PointCloud2 |
Definition at line 47 of file crop_or_remove_points_in_box.hpp.
Public Constructors
CropOrRemovePointsInBox()
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Declaration at line 50 of file crop_or_remove_points_in_box.hpp, definition at line 60 of file crop_or_remove_points_in_box.cpp.
Public Member Functions
providedPorts()
|
Definition at line 67 of file crop_or_remove_points_in_box.cpp.
providedPorts()
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Definition at line 82 of file crop_or_remove_points_in_box.cpp.
Private Member Functions
doWork()
| virtual |
Retrieves required input values, looks up the transform between the box reference frame and the point cloud origin frame, performs the filter operation, and writes the filtered point cloud to the output data port.
- Returns
Returns true if the point cloud was filtered successfully. Returns an error message otherwise.
Declaration at line 63 of file crop_or_remove_points_in_box.hpp, definition at line 104 of file crop_or_remove_points_in_box.cpp.
getFuture()
| inline virtual |
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
Definition at line 66 of file crop_or_remove_points_in_box.hpp.
Private Member Attributes
future_
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member.
Definition at line 72 of file crop_or_remove_points_in_box.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 55 of file crop_or_remove_points_in_box.hpp, definition at line 96 of file crop_or_remove_points_in_box.cpp.
providedPorts()
| static |
Definition at line 53 of file crop_or_remove_points_in_box.hpp.
The documentation for this class was generated from the following files:
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