GetRegionFromUser Class

Requests a 2D region (bounding box or polygon) from the user by switching the view and displaying a prompt in the UI. More...

Declaration

class moveit_pro::behaviors::GetRegionFromUser { ... }

Included Headers

#include <get_region_from_user.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

	GetRegionFromUser (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Construct a new GetRegionFromUser object. More...

Private Member Functions Index

tl::expected< RequestRegionFromUser::Request, std::string >	createRequest () const
	Compose a RequestRegionFromUser::Request message from the input port values specified. More...
tl::expected< bool, std::string >	processResponse (const RequestRegionFromUser::Request &request, const RequestRegionFromUser::Response &response)
	Validate the returned region against the request and, on success, write it to the output port. More...
tl::expected< bool, std::string >	doWork () override
	Publish the UI prompt request and wait for the correlated response. More...
tl::expected< void, std::string >	doHalt () override
	Cancel the in-flight UI prompt request when the Behavior is halted. 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::shared_ptr< utils::UIRequestResponseClient >	request_client_

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Returns list of ports for this Behavior. More...
static BT::KeyValueVector	metadata ()
	Returns metadata for this Behavior. More...

Description

Requests a 2D region (bounding box or polygon) from the user by switching the view and displaying a prompt in the UI.

The user draws either a rectangular bounding box or a polygon on the named camera view. The output is a geometry_msgs/PolygonStamped whose points are normalized image coordinates in [0..1] (z unused). A bounding box returns four axis-aligned corners; a polygon returns the convex hull of the user's clicks. The returned region is validated on the backend, not trusted from the UI. Polygon selection is validated by the backend but is not yet available in the UI.

Data Port Name	Port Type	Object Type
view_name	Input	std::string
region_name	Input	std::string
prompt	Input	std::string
shape_mode	Input	std::string
min_vertices	Input	int
max_vertices	Input	int
region	Output	geometry_msgs::msg::PolygonStamped

Definition at line 37 of file get_region_from_user.hpp.

Public Constructors

GetRegionFromUser()

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

explicit

Construct a new GetRegionFromUser object.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Declaration at line 46 of file get_region_from_user.hpp, definition at line 97 of file get_region_from_user.cpp.

Private Member Functions

createRequest()

tl::expected< RequestRegionFromUser::Request, std::string > moveit_pro::behaviors::GetRegionFromUser::createRequest ()

Compose a RequestRegionFromUser::Request message from the input port values specified.

Returns

Returns the service request message if successful. If not successful, returns an error message.

Declaration at line 66 of file get_region_from_user.hpp, definition at line 130 of file get_region_from_user.cpp.

doHalt()

tl::expected< void, std::string > moveit_pro::behaviors::GetRegionFromUser::doHalt ()

virtual

Cancel the in-flight UI prompt request when the Behavior is halted.

Returns

An empty success result.

Declaration at line 85 of file get_region_from_user.hpp, definition at line 241 of file get_region_from_user.cpp.

doWork()

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

virtual

Publish the UI prompt request and wait for the correlated response.

Returns

If the prompt flow succeeded, returns true. If it failed, returns an error message.

Declaration at line 79 of file get_region_from_user.hpp, definition at line 213 of file get_region_from_user.cpp.

getFuture()

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

inline virtual

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

Definition at line 88 of file get_region_from_user.hpp.

processResponse()

tl::expected< bool, std::string > moveit_pro::behaviors::GetRegionFromUser::processResponse (const RequestRegionFromUser::Request & request, const RequestRegionFromUser::Response & response)

Validate the returned region against the request and, on success, write it to the output port.

Returns

If the response succeeded and the region is valid, returns true; otherwise an error message.

Declaration at line 72 of file get_region_from_user.hpp, definition at line 174 of file get_region_from_user.cpp.

Private Member Attributes

future_

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

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

Definition at line 94 of file get_region_from_user.hpp.

request_client_

std::shared_ptr<utils::UIRequestResponseClient> moveit_pro::behaviors::GetRegionFromUser::request_client_

Definition at line 95 of file get_region_from_user.hpp.

Public Static Functions

metadata()

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

static

Returns metadata for this Behavior.

Returns

BT::KeyValueVector The Behavior metadata.

Declaration at line 59 of file get_region_from_user.hpp, definition at line 125 of file get_region_from_user.cpp.

providedPorts()

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

static

Returns list of ports for this Behavior.

Returns

BT::PortsList The list of I/O Ports

Declaration at line 53 of file get_region_from_user.hpp, definition at line 105 of file get_region_from_user.cpp.

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

• get_region_from_user.hpp
• get_region_from_user.cpp

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