Adds overage waypoints to both ends of a path by extending along a specified local axis. More...

#include <add_overage_to_path.hpp>

Inheritance diagram for moveit_pro::behaviors::AddOverageToPath:

Collaboration diagram for moveit_pro::behaviors::AddOverageToPath:

Public Member Functions
	AddOverageToPath (const std::string &name, const BT::NodeConfiguration &config)
	Constructor.

BT::NodeStatus	tick () override
	Execute the behavior: extend the path with overage waypoints at both ends.

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Declare input and output ports.

static BT::KeyValueVector	metadata ()
	Provide metadata for the MoveIt Studio Developer Tool UI.

Detailed Description

Adds overage waypoints to both ends of a path by extending along a specified local axis.

This behavior takes a vector of waypoints and extends the path by adding additional waypoints at both the start and end. The new waypoints maintain the same orientation as their respective end waypoints and are spaced evenly along the specified axis (default: Z-axis) over the specified overage distance. The extension direction is chosen to move away from the adjacent waypoint.

Data Port Name	Port Type	Object Type
waypoints	input	std::vector<geometry_msgs::msg::PoseStamped>
overage_distance	input	double
num_waypoints	input	int
axis	input	std::string
output_waypoints	output	std::vector<geometry_msgs::msg::PoseStamped>

Constructor & Destructor Documentation

◆ AddOverageToPath()

moveit_pro::behaviors::AddOverageToPath::AddOverageToPath	(	const std::string &	name,
		const BT::NodeConfiguration &	config
	)

Constructor.

Parameters

name	The name of a particular instance of this Behavior.
config	Runtime configuration for this Behavior, including port mappings.

Member Function Documentation

◆ metadata()

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

static

Provide metadata for the MoveIt Studio Developer Tool UI.

Returns: A BT::KeyValueVector containing the Behavior metadata.

◆ providedPorts()

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

static

Declare input and output ports.

Returns: The list of ports for this behavior.

◆ tick()

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

override

Execute the behavior: extend the path with overage waypoints at both ends.

Returns: SUCCESS if overage waypoints were added, FAILURE otherwise.

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

Public Member Functions