GetMeshNormalPoses Class

Gets the normal vectors for a given mesh and returns the normal vector poses to the caller. More...

Declaration

class moveit_pro::behaviors::GetMeshNormalPoses { ... }

Included Headers

#include <get_mesh_normal_poses.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

	GetMeshNormalPoses (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

Gets the normal vectors for a given mesh and returns the normal vector poses to the caller.

The mesh must be associated with a specific link name in the robot model URDF.

Data Port Name	Port Type	Object Type
link_name	input	std::string
discretization_step_size	input	double
mesh_normal_poses	output	std::vector<geometry_msgs::msg::PoseStamped>

Definition at line 26 of file get_mesh_normal_poses.hpp.

Public Constructors

GetMeshNormalPoses()

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

Declaration at line 29 of file get_mesh_normal_poses.hpp, definition at line 39 of file get_mesh_normal_poses.cpp.

Private Member Functions

doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::GetMeshNormalPoses::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 37 of file get_mesh_normal_poses.hpp, definition at line 64 of file get_mesh_normal_poses.cpp.

getFuture()

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

inline virtual

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

Definition at line 40 of file get_mesh_normal_poses.hpp.

Private Member Attributes

future_

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

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

Definition at line 46 of file get_mesh_normal_poses.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 34 of file get_mesh_normal_poses.hpp, definition at line 59 of file get_mesh_normal_poses.cpp.

providedPorts()

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

static

Declaration at line 32 of file get_mesh_normal_poses.hpp, definition at line 45 of file get_mesh_normal_poses.cpp.

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

• get_mesh_normal_poses.hpp
• get_mesh_normal_poses.cpp

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