RecordCalibrationSample Class

Appends one hand-eye calibration sample to a samples vector on the blackboard. More...

Declaration

class moveit_pro::behaviors::RecordCalibrationSample { ... }

Included Headers

#include <record_calibration_sample.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

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

Description

Appends one hand-eye calibration sample to a samples vector on the blackboard.

The end effector pose is looked up from TF as the sample is recorded, not at the image time, so the robot must be stationary from the image capture until this runs. The calibration Objectives wait after each motion before capturing.

Data Port Name	Port Type	Object Type
base_frame	input	std::string
end_effector_frame	input	std::string
camera_name	input	std::string
camera_info	input	sensor_msgs::msg::CameraInfo
detections	input	std::vector<moveit_pro::hand_eye_calibration::CornerObservation>
view_label	input	std::string
samples	bidirectional	std::vector<moveit_pro::hand_eye_calibration::CalibrationSample>

Definition at line 32 of file record_calibration_sample.hpp.

Public Constructors

RecordCalibrationSample()

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

Constructor for the RecordCalibrationSample Behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Declaration at line 41 of file record_calibration_sample.hpp, definition at line 77 of file record_calibration_sample.cpp.

Public Member Functions

tick()

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

Declaration at line 48 of file record_calibration_sample.hpp, definition at line 118 of file record_calibration_sample.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 46 of file record_calibration_sample.hpp, definition at line 112 of file record_calibration_sample.cpp.

providedPorts()

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

static

Declaration at line 44 of file record_calibration_sample.hpp, definition at line 83 of file record_calibration_sample.cpp.

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

• record_calibration_sample.hpp
• record_calibration_sample.cpp

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