calculate_pose_offset.hpp File

Included Headers

#include <behaviortree_cpp/action_node.h> #include <geometry_msgs/msg/pose.hpp> #include <geometry_msgs/msg/pose_stamped.hpp> #include <geometry_msgs/msg/transform_stamped.hpp> #include <moveit_pro_behavior_interface/shared_resources_node.hpp>

Namespaces Index

namespace	moveit_pro
namespace	behaviors

Classes Index

class	CalculatePoseOffset
	Calculates the offset transform from source_pose to destination_pose. This can be used to measure the distance between two poses and returns the result relative to the source_pose. More...

Functions Index

tl::expected< void, std::string >	preCalculationChecks (const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources, const geometry_msgs::msg::PoseStamped &source_pose, const geometry_msgs::msg::PoseStamped &destination_pose)
	Performs checks to see if the pose offset is actually possible to calculate. More...
geometry_msgs::msg::PoseStamped	poseOffset (const geometry_msgs::msg::TransformStamped &transform, const geometry_msgs::msg::PoseStamped &source_pose, const geometry_msgs::msg::PoseStamped &destination_pose)
	Calculates the pose offset given the transform between poses, the source pose, and destination pose. More...
tl::expected< void, std::string >	canTransformCheck (const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources, const std::string &source_frame_id, const std::string &destination_frame_id)

Functions

canTransformCheck()

tl::expected< void, std::string > canTransformCheck (const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources, const std::string & source_frame_id, const std::string & destination_frame_id)

Declaration at line 90 of file calculate_pose_offset.hpp, definition at line 29 of file calculate_pose_offset.cpp.

poseOffset()

geometry_msgs::msg::PoseStamped poseOffset (const geometry_msgs::msg::TransformStamped & transform, const geometry_msgs::msg::PoseStamped & source_pose, const geometry_msgs::msg::PoseStamped & destination_pose)

Calculates the pose offset given the transform between poses, the source pose, and destination pose.

Parameters

transform	The transform between the source and destination frame
source_pose	The source pose
destination_pose	The destination pose

Returns

The Pose offset

Declaration at line 85 of file calculate_pose_offset.hpp, definition at line 62 of file calculate_pose_offset.cpp.

preCalculationChecks()

tl::expected< void, std::string > preCalculationChecks (const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources, const geometry_msgs::msg::PoseStamped & source_pose, const geometry_msgs::msg::PoseStamped & destination_pose)

Performs checks to see if the pose offset is actually possible to calculate.

Parameters

shared_resources	The Behavior Context used for ROS operations
source_pose	The source pose
destination_pose	The destination pose

Returns

Returns a tl::expected<void, std::string>, where the string is an error message

Declaration at line 74 of file calculate_pose_offset.hpp, definition at line 41 of file calculate_pose_offset.cpp.

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