TransformPointCloud Class

Transforms a point cloud given an input pose in the same frame as the point cloud. More...

Declaration

class moveit_pro::behaviors::TransformPointCloud { ... }

Included Headers

#include <transform_pointcloud.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

	TransformPointCloud (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

Transforms a point cloud given an input pose in the same frame as the point cloud.

The frame IDs of the input point cloud and transform pose must match, or this Behavior will fail. The output point cloud will similarly be with respect to this frame.

Data Port Name	Port Type	Object Type
input_cloud	input	sensor_msgs::msg::PointCloud2
transform_pose	input	geometry_msgs::msg::PoseStamped
output_cloud	output	sensor_msgs::msg::PointCloud2

Definition at line 27 of file transform_pointcloud.hpp.

Public Constructors

TransformPointCloud()

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

Declaration at line 30 of file transform_pointcloud.hpp, definition at line 41 of file transform_pointcloud.cpp.

Private Member Functions

doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::TransformPointCloud::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 38 of file transform_pointcloud.hpp, definition at line 67 of file transform_pointcloud.cpp.

getFuture()

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

inline virtual

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

Definition at line 40 of file transform_pointcloud.hpp.

Private Member Attributes

future_

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

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

Definition at line 46 of file transform_pointcloud.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 35 of file transform_pointcloud.hpp, definition at line 61 of file transform_pointcloud.cpp.

providedPorts()

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

static

Declaration at line 33 of file transform_pointcloud.hpp, definition at line 47 of file transform_pointcloud.cpp.

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

• transform_pointcloud.hpp
• transform_pointcloud.cpp

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