`GenerateSurfaceCoveragePath` Class

Generates a coverage (raster) path of tool poses over a rectangular region. More...

Declaration

class moveit_pro::behaviors::GenerateSurfaceCoveragePath { ... }

Included Headers

#include <generate_surface_coverage_path.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()


static BT::KeyValueVector	metadata ()

Description

Generates a coverage (raster) path of tool poses over a rectangular region.

Thin BT wrapper over generateRasterPath(): reads the region and parameters from ports, computes the serpentine raster, and writes it to coverage_path for a Cartesian planner (e.g. PlanCartesianPath) to follow. Intended to turn a user-selected region (see GetRegionFromUser, projected to 3D) into a wipe/inspection sweep.

Data Port Name	Port Type	Object Type
region_pose	input	geometry_msgs::msg::PoseStamped
region_dimensions	input	std::vector<double>
line_spacing	input	double
point_spacing	input	double
standoff	input	double
margin	input	double
coverage_path	output	std::vector<geometry_msgs::msg::PoseStamped>

Parameters

name	The name of this Behavior.
config	The configuration options for this Behavior.
shared_resources	The shared resources common to all Behaviors.

Definition at line 87 of file generate_surface_coverage_path.hpp.

Public Constructors