GetCenterMostAprilTag Class

Gets the stamped pose of the AprilTag detection closest to the center of the camera image. More...

Declaration

class moveit_pro::behaviors::GetCenterMostAprilTag { ... }

Included Headers

#include <get_center_most_apriltag.hpp>

Base class

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

Public Constructors Index

	GetCenterMostAprilTag (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources, std::unique_ptr< ROSPublisherHandle > ros_publisher_interface=std::make_unique< ROSPublisherHandle >())

Public Member Functions Index

BT::NodeStatus	tick () override

Private Member Attributes Index

std::unique_ptr< ROSPublisherHandle >	ros_publisher_interface_

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Description

Gets the stamped pose of the AprilTag detection closest to the center of the camera image.

Given an array of AprilTag detections and camera intrinsics, this Behavior projects each detection's 3D pose into pixel coordinates and returns the pose of the detection closest to the image center. If multiple detections are equidistant, the first one encountered is returned.

Data Port Name	Port Type	Object Type
detections	input	moveit_studio_vision_msgs::msg::ObjectDetectionArray
camera_info	input	sensor_msgs::msg::CameraInfo
image	input	sensor_msgs::msg::Image (optional)
tag_size	input	double
visualization_topic	input	std::string
detection_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 32 of file get_center_most_apriltag.hpp.

Public Constructors

GetCenterMostAprilTag()

moveit_pro::behaviors::GetCenterMostAprilTag::GetCenterMostAprilTag (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources, std::unique_ptr< ROSPublisherHandle > ros_publisher_interface=std::make_unique< ROSPublisherHandle >())

Declaration at line 35 of file get_center_most_apriltag.hpp, definition at line 71 of file get_center_most_apriltag.cpp.

Public Member Functions

tick()

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

Declaration at line 44 of file get_center_most_apriltag.hpp, definition at line 101 of file get_center_most_apriltag.cpp.

Private Member Attributes

ros_publisher_interface_

std::unique_ptr<ROSPublisherHandle> moveit_pro::behaviors::GetCenterMostAprilTag::ros_publisher_interface_

Definition at line 47 of file get_center_most_apriltag.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 42 of file get_center_most_apriltag.hpp, definition at line 96 of file get_center_most_apriltag.cpp.

providedPorts()

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

static

Declaration at line 40 of file get_center_most_apriltag.hpp, definition at line 80 of file get_center_most_apriltag.cpp.

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

• get_center_most_apriltag.hpp
• get_center_most_apriltag.cpp

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