`GetDetectionPose` Class

Gets the stamped pose of an object detection given a label or ID, if one exists. More...

Declaration

class moveit_pro::behaviors::GetDetectionPose { ... }

Included Headers

#include <get_detection_pose.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()


static BT::KeyValueVector	metadata ()

Description

Gets the stamped pose of an object detection given a label or ID, if one exists.

The target_id and target_label ports define the match criteria for the detection. A target_id of -1 denotes any ID is allowed. Similarly, a target_label that is an empty string denotes any label is allowed.

If multiple detections that match the criteria exist in the list, return the first one.

Data Port Name	Port Type	Object Type
detections	input	moveit_studio_vision_msgs::msg::ObjectDetectionArray
target_id	input	int
target_label	input	std::string
detection_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 31 of file get_detection_pose.hpp.

Public Constructors