CropPosesInBox Class
Given a vector of poses and a box-shaped region of interest, create a new vector of poses which contains only the poses that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid. 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
| CropPosesInBox (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 |
|
Retrieves required input values, looks up the transform between the box reference frame and the pose reference frames, performs the crop operation, and writes the cropped poses to the output data port. More... | |
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
|
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 () |
| static BT::KeyValueVector | metadata () |
Description
Given a vector of poses and a box-shaped region of interest, create a new vector of poses which contains only the poses that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| poses | input | std::vector<geometry_msgs::msg::PoseStamped> |
| crop_box_centroid_pose | input | geometry_msgs::msg::PoseStamped |
| crop_box_size | input | std::vector<double> |
| poses_cropped | output | std::vector<geometry_msgs::msg::PoseStamped> |
Definition at line 26 of file crop_poses_in_box.hpp.
Public Constructors
CropPosesInBox()
|
Declaration at line 29 of file crop_poses_in_box.hpp, definition at line 39 of file crop_poses_in_box.cpp.
Private Member Functions
doWork()
| virtual |
Retrieves required input values, looks up the transform between the box reference frame and the pose reference frames, performs the crop operation, and writes the cropped poses to the output data port.
- Returns
Returns true if the poses were cropped successfully. Returns an error message otherwise.
Declaration at line 42 of file crop_poses_in_box.hpp, definition at line 66 of file crop_poses_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 45 of file crop_poses_in_box.hpp.
Private Member Attributes
future_
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member.
Definition at line 51 of file crop_poses_in_box.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 34 of file crop_poses_in_box.hpp, definition at line 60 of file crop_poses_in_box.cpp.
providedPorts()
| static |
Declaration at line 32 of file crop_poses_in_box.hpp, definition at line 45 of file crop_poses_in_box.cpp.
The documentation for this class was generated from the following files:
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