TransformPointCloudFrame Class

Transforms a point cloud to a target coordinate frame. More...

Declaration

class moveit_pro::behaviors::TransformPointCloudFrame { ... }

Included Headers

#include <transform_pointcloud_frame.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

	TransformPointCloudFrame (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 to a target coordinate frame.

Data Port Name	Port Type	Object Type
input_cloud	input	sensor_msgs::msg::PointCloud2
target_frame	input	std::string
output_cloud	output	sensor_msgs::msg::PointCloud2

Definition at line 26 of file transform_pointcloud_frame.hpp.

Public Constructors

TransformPointCloudFrame()

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

Declaration at line 29 of file transform_pointcloud_frame.hpp, definition at line 37 of file transform_pointcloud_frame.cpp.

Private Member Functions

doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::TransformPointCloudFrame::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 37 of file transform_pointcloud_frame.hpp, definition at line 61 of file transform_pointcloud_frame.cpp.

getFuture()

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

inline virtual

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

Definition at line 39 of file transform_pointcloud_frame.hpp.

Private Member Attributes

future_

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

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

Definition at line 45 of file transform_pointcloud_frame.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 34 of file transform_pointcloud_frame.hpp, definition at line 55 of file transform_pointcloud_frame.cpp.

providedPorts()

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

static

Declaration at line 32 of file transform_pointcloud_frame.hpp, definition at line 43 of file transform_pointcloud_frame.cpp.

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

• transform_pointcloud_frame.hpp
• transform_pointcloud_frame.cpp

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Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.