moveit_pro::behaviors::AdjustPoseWithIMarker Class Reference

Requests a user to manually adjust a collection of poses using interactive markers in the UI. More...

#include <adjust_pose_with_imarker.hpp>

Inheritance diagram for moveit_pro::behaviors::AdjustPoseWithIMarker:

Collaboration diagram for moveit_pro::behaviors::AdjustPoseWithIMarker:

Public Member Functions
	AdjustPoseWithIMarker (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Construct a new AdjustPoseWithIMarker object.
Public Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	~AsyncBehaviorBase () override=default
BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().
BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().
void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().
void	resetStatus ()
	Resets the internal status of this node.
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.
Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &behavior_context)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.
const std::shared_ptr< BehaviorContext > &	getBehaviorContext () const

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Returns list of ports for this Behavior.
static BT::KeyValueVector	metadata ()
	Returns metadata for this Behavior.

Detailed Description

Requests a user to manually adjust a collection of poses using interactive markers in the UI.

The list of prompts must be the same length in size as the initial poses requested from the user. The output is a list of adjusted stamped poses.

Data Port Name	Port Type	Object Type
prompts	Input	std::vector<std::string>
initial_poses	Input	std::vector<geometry_msgs::msg::PoseStamped>
adjusted_poses	Output	std::vector<geometry_msgs::msg::PoseStamped>

Constructor & Destructor Documentation

AdjustPoseWithIMarker()

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

explicit

Construct a new AdjustPoseWithIMarker object.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Member Function Documentation

metadata()

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

static

Returns metadata for this Behavior.

Returns

BT::KeyValueVector The Behavior metadata.

providedPorts()

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

static

Returns list of ports for this Behavior.

Returns

BT::PortsList The list of I/O Ports

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

• adjust_pose_with_imarker.hpp
• adjust_pose_with_imarker.cpp