GetConvexHullPointCloud Class

Computes a 3D convex hull around an input point cloud and densely resamples the surface to fill holes. More...

Declaration

class moveit_pro::behaviors::GetConvexHullPointCloud { ... }

Included Headers

#include <get_convex_hull_pointcloud.hpp>

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

	GetConvexHullPointCloud (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
	User-implemented function which handles executing the potentially-long-running process. 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

Computes a 3D convex hull around an input point cloud and densely resamples the surface to fill holes.

Takes an input point cloud with holes or gaps, computes its 3D convex hull, and resamples the hull surface triangles uniformly at the given sampling density. The output is a dense, solid point cloud covering the convex hull surface. Output points are colored using the average color of the hull vertices.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
sampling_density	input	double
filled_point_cloud	output	sensor_msgs::msg::PointCloud2

Definition at line 27 of file get_convex_hull_pointcloud.hpp.

Public Constructors

GetConvexHullPointCloud()

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

Parameters

name	The name of this Behavior.
config	The node configuration.
shared_resources	Shared resources.

Declaration at line 35 of file get_convex_hull_pointcloud.hpp, definition at line 54 of file get_convex_hull_pointcloud.cpp.

Private Member Functions

doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::GetConvexHullPointCloud::doWork ()

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 43 of file get_convex_hull_pointcloud.hpp, definition at line 78 of file get_convex_hull_pointcloud.cpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::GetConvexHullPointCloud::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 get_convex_hull_pointcloud.hpp.

Private Member Attributes

future_

std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::GetConvexHullPointCloud::future_

Classes derived from AsyncBehaviorBase must have this shared_future as a class member.

Definition at line 51 of file get_convex_hull_pointcloud.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 40 of file get_convex_hull_pointcloud.hpp, definition at line 72 of file get_convex_hull_pointcloud.cpp.

providedPorts()

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

static

Declaration at line 38 of file get_convex_hull_pointcloud.hpp, definition at line 60 of file get_convex_hull_pointcloud.cpp.

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

• get_convex_hull_pointcloud.hpp
• get_convex_hull_pointcloud.cpp

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