GetLatestTransform Class

Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior. More...

Declaration

class moveit_pro::behaviors::GetLatestTransform { ... }

Included Headers

#include <get_latest_transform.hpp>

Base class

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

Public Constructors Index

	GetLatestTransform (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for GetLatestTransform behavior. More...

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Custom tree nodes that have input and/or output ports must define them in this static function. More...
static BT::KeyValueVector	metadata ()

Description

Gets the latest transform from the robot model root to a frame specified as an input parameter to this behavior.

Data Port Name	Port Type	Object Type
target_frame_id	input	std::string
source_frame_id	input	std::string
transform	output	geometry_msgs::msg::TransformStamped

Definition at line 30 of file get_latest_transform.hpp.

Public Constructors

GetLatestTransform()

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

Constructor for GetLatestTransform behavior.

Parameters

name	Name of the node. Must match the name used for this node in the behavior tree definition file (the .xml file).
config	Node configuration. Only used here because the BehaviorTree.CPP expects constructor signature with name and config first before custom constructor parameters.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_pro::behaviors::SharedResourcesNode.

Declaration at line 44 of file get_latest_transform.hpp, definition at line 34 of file get_latest_transform.cpp.

Public Member Functions

tick()

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

Declaration at line 59 of file get_latest_transform.hpp, definition at line 57 of file get_latest_transform.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 57 of file get_latest_transform.hpp, definition at line 52 of file get_latest_transform.cpp.

providedPorts()

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

static

Custom tree nodes that have input and/or output ports must define them in this static function.

This function must be static. It is a requirement set by the BehaviorTree.CPP library.

Returns

List of ports with the names and port info. The return value is for the internal use of the behavior tree.

Declaration at line 55 of file get_latest_transform.hpp, definition at line 40 of file get_latest_transform.cpp.

---

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

• get_latest_transform.hpp
• get_latest_transform.cpp

---

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.