`RotateTwistToFrame` Class

Rotates a stamped twist into a different frame's orientation. More...

Declaration

class moveit_pro::behaviors::RotateTwistToFrame { ... }

Included Headers

#include <rotate_twist_to_frame.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()


static BT::KeyValueVector	metadata ()

Description

Rotates a stamped twist into a different frame's orientation.

Re-expresses the linear and angular components of the input twist in the target frame's basis using path_ik::twistRotationMatrix. Only the rotation part of the source-to-target transform is applied; any translation between the two frames is ignored, so this Behavior does not add the omega-cross-r reference-point shift that a full rigid-body twist transform would. This matches the common case of remapping a velocity command between frames without changing what point on the body is being commanded.

TF lookup uses tf2::TimePointZero (latest available transform); the input twist's header.stamp is intentionally ignored, since twists are typically control signals rather than measurements with a meaningful timestamp.

Returns FAILURE on a missing TF lookup (with the source / target frame names in the error message), or when required ports are missing.

Data Port Name	Port Type	Object Type
twist_in	input	geometry_msgs::msg::TwistStamped
target_frame_id	input	std::string
twist_out	output	geometry_msgs::msg::TwistStamped

Definition at line 41 of file rotate_twist_to_frame.hpp.

Public Constructors