GetGraspableObjectsFromMasks3D Class

Finds objects in point cloud segments represented by 3D masks. More...

Declaration

class moveit_pro::behaviors::GetGraspableObjectsFromMasks3D { ... }

Included Headers

#include <get_graspable_objects_from_masks3d.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

	GetGraspableObjectsFromMasks3D (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	GetGraspableObjectsFromMasks3D (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< VisualToolsInterfaceBase > visual_tools)
	Alternate constructor to allow mocking the rviz_visual_tools interface. More...

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...
std::unique_ptr< VisualToolsInterfaceBase >	visual_tools_

Public Static Functions Index

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

Description

Finds objects in point cloud segments represented by 3D masks.

The output GraspableObjects will be transformed so that their parent frame is the frame defined by the base_frame config parameter.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
masks3d	input	std::vector<moveit_studio_vision_msgs::msg::Mask3D>
base_frame	input	std::string
plane_inlier_threshold	input	double
minimum_face_area	input	double
face_separation_threshold	input	double
graspable_objects	output	std::vector<moveit_msgs::msg::GraspableObject>

Definition at line 31 of file get_graspable_objects_from_masks3d.hpp.

Public Constructors

GetGraspableObjectsFromMasks3D()

moveit_pro::behaviors::GetGraspableObjectsFromMasks3D::GetGraspableObjectsFromMasks3D (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources)

Declaration at line 34 of file get_graspable_objects_from_masks3d.hpp, definition at line 68 of file get_graspable_objects_from_masks3d.cpp.

GetGraspableObjectsFromMasks3D()

moveit_pro::behaviors::GetGraspableObjectsFromMasks3D::GetGraspableObjectsFromMasks3D (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources, std::unique_ptr< VisualToolsInterfaceBase > visual_tools)

Alternate constructor to allow mocking the rviz_visual_tools interface.

Declaration at line 38 of file get_graspable_objects_from_masks3d.hpp, definition at line 78 of file get_graspable_objects_from_masks3d.cpp.

Private Member Functions

doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::GetGraspableObjectsFromMasks3D::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 47 of file get_graspable_objects_from_masks3d.hpp, definition at line 119 of file get_graspable_objects_from_masks3d.cpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::GetGraspableObjectsFromMasks3D::getFuture ()

inline virtual

Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Definition at line 49 of file get_graspable_objects_from_masks3d.hpp.

Private Member Attributes

future_

std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::GetGraspableObjectsFromMasks3D::future_

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

Definition at line 55 of file get_graspable_objects_from_masks3d.hpp.

visual_tools_

std::unique_ptr<VisualToolsInterfaceBase> moveit_pro::behaviors::GetGraspableObjectsFromMasks3D::visual_tools_

Definition at line 57 of file get_graspable_objects_from_masks3d.hpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::GetGraspableObjectsFromMasks3D::metadata ()

static

Declaration at line 44 of file get_graspable_objects_from_masks3d.hpp, definition at line 113 of file get_graspable_objects_from_masks3d.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::GetGraspableObjectsFromMasks3D::providedPorts ()

static

Declaration at line 42 of file get_graspable_objects_from_masks3d.hpp, definition at line 86 of file get_graspable_objects_from_masks3d.cpp.

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

• get_graspable_objects_from_masks3d.hpp
• get_graspable_objects_from_masks3d.cpp

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