GetCentroidFromPointCloud Class

Given an input point cloud, estimates the cloud centroid using pcl::compute3DCentroid and outputs that as a pose stamped with the same header as the point cloud. More...

Declaration

class moveit_pro::behaviors::GetCentroidFromPointCloud { ... }

Included Headers

#include <get_centroid_from_pointcloud.hpp>

Base class

class	BT::SyncActionNode

Public Constructors Index

	GetCentroidFromPointCloud (const std::string &name, const BT::NodeConfiguration &config)

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

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

Description

Given an input point cloud, estimates the cloud centroid using pcl::compute3DCentroid and outputs that as a pose stamped with the same header as the point cloud.

This utilizes the find centroid function from PCL on the passed point cloud.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
output_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 25 of file get_centroid_from_pointcloud.hpp.

Public Constructors

GetCentroidFromPointCloud()

moveit_pro::behaviors::GetCentroidFromPointCloud::GetCentroidFromPointCloud (const std::string & name, const BT::NodeConfiguration & config)

Declaration at line 28 of file get_centroid_from_pointcloud.hpp, definition at line 33 of file get_centroid_from_pointcloud.cpp.

Public Member Functions

tick()

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

Declaration at line 34 of file get_centroid_from_pointcloud.hpp, definition at line 56 of file get_centroid_from_pointcloud.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 32 of file get_centroid_from_pointcloud.hpp, definition at line 50 of file get_centroid_from_pointcloud.cpp.

providedPorts()

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

static

Declaration at line 30 of file get_centroid_from_pointcloud.hpp, definition at line 38 of file get_centroid_from_pointcloud.cpp.

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

• get_centroid_from_pointcloud.hpp
• get_centroid_from_pointcloud.cpp

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