TransformPoseFrame Class

Transforms the reference frame of an input stamped pose to the frame specified by a frame ID, along with the position/orientation transformation that entails. More...

Declaration

class moveit_pro::behaviors::TransformPoseFrame { ... }

Included Headers

#include <transform_pose_frame.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Custom tree nodes that have input and/or output ports must define them in this static function. More...
static BT::KeyValueVector	metadata ()

Description

Transforms the reference frame of an input stamped pose to the frame specified by a frame ID, along with the position/orientation transformation that entails.

Data Port Name	Port Type	Object Type
input_pose	input	geometry_msgs::msg::PoseStamped
target_frame_id	input	std::string
output_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 27 of file transform_pose_frame.hpp.

Public Constructors

TransformPoseFrame()

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

Constructor for TransformPoseFrame behavior.

Parameters

name	Name of the node. Must match the name used for this node in the behavior tree definition file (the .xml file).
config	Node configuration. Only used here because the BehaviorTree.CPP expects constructor signature with name and config first before custom constructor parameters.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_pro::behaviors::SharedResourcesNode.

Declaration at line 41 of file transform_pose_frame.hpp, definition at line 36 of file transform_pose_frame.cpp.

Public Member Functions

tick()

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

Declaration at line 56 of file transform_pose_frame.hpp, definition at line 57 of file transform_pose_frame.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 54 of file transform_pose_frame.hpp, definition at line 52 of file transform_pose_frame.cpp.

providedPorts()

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

static

Custom tree nodes that have input and/or output ports must define them in this static function.

This function must be static. It is a requirement set by the BehaviorTree.CPP library.

Returns

List of ports with the names and port info. The return value is for the internal use of the behavior tree.

Declaration at line 52 of file transform_pose_frame.hpp, definition at line 42 of file transform_pose_frame.cpp.

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

• transform_pose_frame.hpp
• transform_pose_frame.cpp

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