SavePointCloudToFile Class

Save a point cloud .pcd file to disk. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd. More...

Declaration

class moveit_pro::behaviors::SavePointCloudToFile { ... }

Included Headers

#include <save_pointcloud_to_file.hpp>

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

	SavePointCloudToFile (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
	Saves a point cloud to a .pcd file to the location given on the input port. 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

Save a point cloud .pcd file to disk. The filename will follow the syntax of file_prefix_YYYYMMDD_HHMMSS.pcd.

Data Port Name	Port Type	Object Type
file_path	input	std::string
file_prefix	input	std::string
point_cloud	input	sensor_msgs::msg::PointCloud2

Definition at line 32 of file save_pointcloud_to_file.hpp.

Public Constructors

SavePointCloudToFile()

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

Declaration at line 35 of file save_pointcloud_to_file.hpp, definition at line 29 of file save_pointcloud_to_file.cpp.

Private Member Functions

doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::SavePointCloudToFile::doWork ()

virtual

Saves a point cloud to a .pcd file to the location given on the input port.

Returns

Returns true if the point cloud snapshot is captured successfully, and otherwise returns a failure.

Declaration at line 47 of file save_pointcloud_to_file.hpp, definition at line 50 of file save_pointcloud_to_file.cpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::SavePointCloudToFile::getFuture ()

inline virtual

Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Definition at line 50 of file save_pointcloud_to_file.hpp.

Private Member Attributes

future_

std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::SavePointCloudToFile::future_

Classes derived from AsyncBehaviorBase must have this shared_future as a class member.

Definition at line 56 of file save_pointcloud_to_file.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 40 of file save_pointcloud_to_file.hpp, definition at line 44 of file save_pointcloud_to_file.cpp.

providedPorts()

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

static

Declaration at line 38 of file save_pointcloud_to_file.hpp, definition at line 35 of file save_pointcloud_to_file.cpp.

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

• save_pointcloud_to_file.hpp
• save_pointcloud_to_file.cpp

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