GetBoxFromUser Class
Requests a 3D selection box from the operator in the Desktop App. 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... | |
Private Member Typedefs Index
| using | BoxService = moveit_studio_internal_msgs::srv::RequestBoxFromUser |
Public Constructors Index
| GetBoxFromUser (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
Private Member Functions Index
| tl::expected< BoxService::Request, std::string > | createRequest () const |
| tl::expected< bool, std::string > | processResponse (const BoxService::Request &request, const BoxService::Response &response) |
| tl::expected< bool, std::string > | doWork () override |
|
User-implemented function which handles executing the potentially-long-running process. More... | |
| tl::expected< void, std::string > | doHalt () override |
|
Optionally implement additional work needed to cleanly interrupt the async process. More... | |
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
|
Gets the shared future which is used to monitor the progress of the async process. More... | |
Private Member Attributes Index
| std::shared_future< tl::expected< bool, std::string > > | future_ |
| std::shared_ptr< utils::UIRequestResponseClient > | request_client_ |
Public Static Functions Index
| static BT::PortsList | providedPorts () |
| static BT::KeyValueVector | metadata () |
Description
Requests a 3D selection box from the operator in the Desktop App.
The operator clicks a rendered surface to place the box's +Z face, initially facing the camera, then translates, rotates and resizes the box before confirming. The outputs are the box center and full extents, matching GenerateSurfaceCoveragePath and CropPointsInBox. +Z points toward the tool and X sets the default raster direction. Wire the previous outputs into the initial inputs to edit and regenerate. An unedited seed retains its stamp; editing uses stamp zero for the latest frame transform shown by the UI. No robot motion is requested by this Behavior. It returns RUNNING while awaiting input, SUCCESS on valid confirmation, and FAILURE on operator cancellation or an error.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| prompt | input | std::string |
| initial_pose | input | geometry_msgs::msg::PoseStamped |
| initial_dimensions | input | std::vector<double> |
| region_pose | output | geometry_msgs::msg::PoseStamped |
| region_dimensions | output | std::vector<double> |
- Parameters
-
name The Behavior name.
config The Behavior Tree configuration.
shared_resources Resources shared by the Objective.
Definition at line 37 of file get_box_from_user.hpp.
Private Member Typedefs
BoxService
|
Definition at line 46 of file get_box_from_user.hpp.
Public Constructors
GetBoxFromUser()
|
Declaration at line 40 of file get_box_from_user.hpp, definition at line 104 of file get_box_from_user.cpp.
Private Member Functions
createRequest()
| nodiscard |
Declaration at line 47 of file get_box_from_user.hpp, definition at line 140 of file get_box_from_user.cpp.
doHalt()
| nodiscard virtual |
Optionally implement additional work needed to cleanly interrupt the async process.
The default implementation of this function is a no-op which will not interrupt the async process. This will mean that onHalted will wait until the process finishes before returning.
- Returns
Return an empty tl::expected<void, std::string> if the additional work to halt was successful. Return an error message if something failed while doing additional work to halt.
Declaration at line 51 of file get_box_from_user.hpp, definition at line 203 of file get_box_from_user.cpp.
doWork()
| nodiscard virtual |
User-implemented function which handles executing the potentially-long-running process.
This function is called within an async process in a separate thread.
- Returns
A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.
Declaration at line 50 of file get_box_from_user.hpp, definition at line 188 of file get_box_from_user.cpp.
getFuture()
| inline nodiscard virtual |
Gets the shared future which is used to monitor the progress of the async process.
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
This exists to prevent destruction of the derived class while the async process is still in-progress. If the derived class is destroyed, the definitions of the functions used within doWork() will be destroyed too, which will result in the virtual functions in the base class being called instead and cause a fault.
This function will force derived classes to add an instance of this type and return a reference to it. The base class can then use this virtual function to access the shared future in functions like onStart.
By adding this virtual function we're properly demonstrating how this future depends on things from the derived class and the natural flow of object lifetimes will do the hard work for us. The std::shared_future destructor will get the value of the future before the derived class is destructed assuming it's the last reference to the shared state. Doing it this way means neither the base nor derived class should need to implement a destructor which is a nice property to have.
- Returns
Returns the shared_future, which should be owned by the child class.
Definition at line 52 of file get_box_from_user.hpp.
processResponse()
| nodiscard |
Declaration at line 48 of file get_box_from_user.hpp, definition at line 168 of file get_box_from_user.cpp.
Private Member Attributes
future_
|
Definition at line 56 of file get_box_from_user.hpp.
request_client_
|
Definition at line 57 of file get_box_from_user.hpp.
Public Static Functions
metadata()
| nodiscard static |
Declaration at line 43 of file get_box_from_user.hpp, definition at line 130 of file get_box_from_user.cpp.
providedPorts()
| nodiscard static |
Declaration at line 42 of file get_box_from_user.hpp, definition at line 112 of file get_box_from_user.cpp.
The documentation for this class was generated from the following files:
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