TransformPoseWithPose Class

Transforms an input stamped pose with the transform specified by another stamped pose. More...

Declaration

class moveit_pro::behaviors::TransformPoseWithPose { ... }

Included Headers

#include <transform_pose_with_pose.hpp>

Base class

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

Public Constructors Index

	TransformPoseWithPose (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 an input stamped pose with the transform specified by another stamped pose.

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. Its pose matrix results from pre-mulitplying the transform pose matrix to the input pose matrix.

Data Port Name	Port Type	Object Type
input_pose	input	geometry_msgs::msg::PoseStamped
transform_pose	input	geometry_msgs::msg::PoseStamped
output_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 31 of file transform_pose_with_pose.hpp.

Public Constructors

TransformPoseWithPose()

moveit_pro::behaviors::TransformPoseWithPose::TransformPoseWithPose (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 45 of file transform_pose_with_pose.hpp, definition at line 31 of file transform_pose_with_pose.cpp.

Public Member Functions

tick()

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

Declaration at line 60 of file transform_pose_with_pose.hpp, definition at line 57 of file transform_pose_with_pose.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 58 of file transform_pose_with_pose.hpp, definition at line 51 of file transform_pose_with_pose.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::TransformPoseWithPose::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 56 of file transform_pose_with_pose.hpp, definition at line 37 of file transform_pose_with_pose.cpp.

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

• transform_pose_with_pose.hpp
• transform_pose_with_pose.cpp

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