IsVisibilityConstraintSatisfied Class

Check if the robot's current state satisfies a visibility kinematic constraint relative to an object. More...

Declaration

class moveit_pro::behaviors::IsVisibilityConstraintSatisfied { ... }

Included Headers

#include <is_visibility_constraint_satisfied.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	onStart () override
	Starts the process that evaluates the constraint. More...
BT::NodeStatus	onRunning () override
	Check if the async process has finished, and if so get its result. More...
void	onHalted () override
	Wait for the process_status_ future to be set to make sure the async process has finished when the Behavior halts. More...

Private Member Functions Index

BT::NodeStatus	checkConstraint (const moveit_msgs::msg::VisibilityConstraint &constraint_msg, const moveit_msgs::msg::PlanningScene &planning_scene_msg) const
	Evaluate the visibility constraint. More...

Private Member Attributes Index

ThreadedFuture< BT::NodeStatus >	process_status_
	Future to track the progress of checkConstraint() More...

Public Static Functions Index

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

Public Static Attributes Index

static constexpr auto	kPortIDObject = "object"
static constexpr auto	kPortIDPlanningSceneMsg = "planning_scene_msg"
static constexpr auto	kPortIDCameraOpticalFrame = "camera_optical_frame"
static constexpr auto	kPortIDCameraFieldOfView = "camera_field_of_view_angle"
static constexpr auto	kPortIDSensorZOffset = "sensor_z_offset"
static constexpr auto	kPortIDTargetDiameter = "target_diameter"

Description

Check if the robot's current state satisfies a visibility kinematic constraint relative to an object.

Data Port Name	Port Type	Object Type
object	input	moveit_studio_vision_msgs::msg::GraspableObject
planning_scene_msg	input	moveit_msgs::msg::PlanningScene
camera_optical_frame	input	std::string
camera_field_of_view_angle	input	double
sensor_z_offset	input	double
target_diameter	input	double

Definition at line 30 of file is_visibility_constraint_satisfied.hpp.

Public Constructors

IsVisibilityConstraintSatisfied()

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

explicit

Constructor for the IsVisibilityConstraintSatisfied behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Declaration at line 48 of file is_visibility_constraint_satisfied.hpp, definition at line 34 of file is_visibility_constraint_satisfied.cpp.

Public Member Functions

onHalted()

void moveit_pro::behaviors::IsVisibilityConstraintSatisfied::onHalted ()

Wait for the process_status_ future to be set to make sure the async process has finished when the Behavior halts.

Declaration at line 68 of file is_visibility_constraint_satisfied.hpp, definition at line 129 of file is_visibility_constraint_satisfied.cpp.

onRunning()

BT::NodeStatus moveit_pro::behaviors::IsVisibilityConstraintSatisfied::onRunning ()

Check if the async process has finished, and if so get its result.

Returns

BT::NodeStatus The status of the Node

Declaration at line 63 of file is_visibility_constraint_satisfied.hpp, definition at line 119 of file is_visibility_constraint_satisfied.cpp.

onStart()

BT::NodeStatus moveit_pro::behaviors::IsVisibilityConstraintSatisfied::onStart ()

Starts the process that evaluates the constraint.

Returns

BT::NodeStatus The status of the Node

Declaration at line 56 of file is_visibility_constraint_satisfied.hpp, definition at line 66 of file is_visibility_constraint_satisfied.cpp.

Private Member Functions

checkConstraint()

BT::NodeStatus moveit_pro::behaviors::IsVisibilityConstraintSatisfied::checkConstraint (const moveit_msgs::msg::VisibilityConstraint & constraint_msg, const moveit_msgs::msg::PlanningScene & planning_scene_msg)

Evaluate the visibility constraint.

Parameters

constraint_msg	The visibility constraint to evaluate.
planning_scene_msg	The planning scene to extract the current robot state from.

Returns

SUCCESS if the constraint is satisfied and FAILURE if it is not satisfied.

Declaration at line 86 of file is_visibility_constraint_satisfied.hpp, definition at line 138 of file is_visibility_constraint_satisfied.cpp.

Private Member Attributes

process_status_

ThreadedFuture<BT::NodeStatus> moveit_pro::behaviors::IsVisibilityConstraintSatisfied::process_status_

Future to track the progress of checkConstraint()

Definition at line 92 of file is_visibility_constraint_satisfied.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 77 of file is_visibility_constraint_satisfied.hpp, definition at line 60 of file is_visibility_constraint_satisfied.cpp.

providedPorts()

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

static

Returns list of ports for this behavior.

Returns

BT::PortsList The list of I/O Ports

Declaration at line 75 of file is_visibility_constraint_satisfied.hpp, definition at line 41 of file is_visibility_constraint_satisfied.cpp.

Public Static Attributes

kPortIDCameraFieldOfView

constexpr auto moveit_pro::behaviors::IsVisibilityConstraintSatisfied::kPortIDCameraFieldOfView = "camera_field_of_view_angle"

constexpr static

Definition at line 37 of file is_visibility_constraint_satisfied.hpp.

kPortIDCameraOpticalFrame

constexpr auto moveit_pro::behaviors::IsVisibilityConstraintSatisfied::kPortIDCameraOpticalFrame = "camera_optical_frame"

constexpr static

Definition at line 36 of file is_visibility_constraint_satisfied.hpp.

kPortIDObject

constexpr auto moveit_pro::behaviors::IsVisibilityConstraintSatisfied::kPortIDObject = "object"

constexpr static

Definition at line 34 of file is_visibility_constraint_satisfied.hpp.

kPortIDPlanningSceneMsg

constexpr auto moveit_pro::behaviors::IsVisibilityConstraintSatisfied::kPortIDPlanningSceneMsg = "planning_scene_msg"

constexpr static

Definition at line 35 of file is_visibility_constraint_satisfied.hpp.

kPortIDSensorZOffset

constexpr auto moveit_pro::behaviors::IsVisibilityConstraintSatisfied::kPortIDSensorZOffset = "sensor_z_offset"

constexpr static

Definition at line 38 of file is_visibility_constraint_satisfied.hpp.

kPortIDTargetDiameter

constexpr auto moveit_pro::behaviors::IsVisibilityConstraintSatisfied::kPortIDTargetDiameter = "target_diameter"

constexpr static

Definition at line 39 of file is_visibility_constraint_satisfied.hpp.

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

• is_visibility_constraint_satisfied.hpp
• is_visibility_constraint_satisfied.cpp

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