RegisterPointClouds Class
Registers a target point cloud to a base point cloud and outputs the pose of the target point cloud relative to the origin of the base point cloud which aligns the target cloud with the base cloud. More...
Declaration
Included Headers
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
| RegisterPointClouds (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
Registers a target point cloud to a base point cloud and outputs the pose of the target point cloud relative to the origin of the base point cloud which aligns the target cloud with the base cloud.
This Behavior uses the the Iterative Closest Point (ICP) algorithm to align the two clouds.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| base_point_cloud | input | sensor_msgs::msg::PointCloud2 |
| target_point_cloud | input | sensor_msgs::msg::PointCloud2 |
| max_iterations | input | int |
| max_correspondence_distance | input | double |
| target_pose_in_base_frame | output | geometry_msgs::msg::PoseStamped |
Definition at line 29 of file register_pointclouds.hpp.
Public Constructors
RegisterPointClouds()
|
Declaration at line 32 of file register_pointclouds.hpp, definition at line 40 of file register_pointclouds.cpp.
Private Member Functions
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 40 of file register_pointclouds.hpp, definition at line 71 of file register_pointclouds.cpp.
getFuture()
| inline virtual |
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
Definition at line 42 of file register_pointclouds.hpp.
Private Member Attributes
future_
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member.
Definition at line 48 of file register_pointclouds.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 37 of file register_pointclouds.hpp, definition at line 65 of file register_pointclouds.cpp.
providedPorts()
| static |
Declaration at line 35 of file register_pointclouds.hpp, definition at line 46 of file register_pointclouds.cpp.
The documentation for this class was generated from the following files:
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