ReinterpretPoseFrame Class

Copies a pose and changes only its frame, with no TF lookup. More...

Declaration

class moveit_pro::behaviors::ReinterpretPoseFrame { ... }

Included Headers

#include <reinterpret_pose_frame.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

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

Description

Copies a pose and changes only its frame, with no TF lookup.

Use when two frames are known to coincide, e.g. world and map before a localizer is first seeded. A pose not in expected_input_frame_id is refused.

Data Port Name	Port Type	Object Type
input_pose	input	geometry_msgs::msg::PoseStamped
frame_id	input	std::string
expected_input_frame_id	input	std::string
output_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 31 of file reinterpret_pose_frame.hpp.

Public Constructors

ReinterpretPoseFrame()

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

Declaration at line 34 of file reinterpret_pose_frame.hpp, definition at line 36 of file reinterpret_pose_frame.cpp.

Public Member Functions

tick()

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

Declaration at line 41 of file reinterpret_pose_frame.hpp, definition at line 62 of file reinterpret_pose_frame.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 39 of file reinterpret_pose_frame.hpp, definition at line 57 of file reinterpret_pose_frame.cpp.

providedPorts()

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

static

Declaration at line 37 of file reinterpret_pose_frame.hpp, definition at line 42 of file reinterpret_pose_frame.cpp.

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

• reinterpret_pose_frame.hpp
• reinterpret_pose_frame.cpp

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