ScanMatchResidual Class

Scores how well a laser scan fits the map from a candidate pose. More...

Declaration

class moveit_pro::behaviors::ScanMatchResidual { ... }

Included Headers

#include <scan_match_residual.hpp>

Base class

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

Public Constructors Index

	ScanMatchResidual (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

Scores how well a laser scan fits the map from a candidate pose.

Reports the fraction of beams whose endpoint, projected from pose, lands within inlier_distance of a wall. pose is the pose of base_frame_id; a scan in another frame is placed using TF.

Data Port Name	Port Type	Object Type
pose	input	geometry_msgs::msg::PoseStamped
scan	input	sensor_msgs::msg::LaserScan
map	input	nav_msgs::msg::OccupancyGrid
base_frame_id	input	std::string
max_range	input	double
inlier_distance	input	double
min_inlier_fraction	input	double
inlier_fraction	output	double

Definition at line 35 of file scan_match_residual.hpp.

Public Constructors

ScanMatchResidual()

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

Declaration at line 38 of file scan_match_residual.hpp, definition at line 52 of file scan_match_residual.cpp.

Public Member Functions

tick()

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

Declaration at line 45 of file scan_match_residual.hpp, definition at line 78 of file scan_match_residual.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 43 of file scan_match_residual.hpp, definition at line 73 of file scan_match_residual.cpp.

providedPorts()

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

static

Declaration at line 41 of file scan_match_residual.hpp, definition at line 58 of file scan_match_residual.cpp.

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

• scan_match_residual.hpp
• scan_match_residual.cpp

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