Modifies a coverage path to route around obstacle points using semicircular detours. More...

#include <avoid_points_in_coverage_path.hpp>

Inheritance diagram for moveit_pro::behaviors::AvoidPointsInCoveragePath:

Collaboration diagram for moveit_pro::behaviors::AvoidPointsInCoveragePath:

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

BT::NodeStatus	tick () override
	Execute the behavior: modify the coverage path to avoid obstacle points.

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

Modifies a coverage path to route around obstacle points using semicircular detours.

For each obstacle point that falls within the boustrophedon spacing of the path, the behavior inserts a semicircular detour on the opposite side of the path from the obstacle. Points that fall within the avoidance radius of an obstacle are removed from the output path and replaced by the arc.

Data Port Name	Port Type	Object Type
coverage_path	input	std::vector<geometry_msgs::msg::PoseStamped>
points_to_avoid	input	std::vector<geometry_msgs::msg::PoseStamped>
stride_spacing	input	double
avoidance_radius	input	double
loop_segments	input	int
modified_path	output	std::vector<geometry_msgs::msg::PoseStamped>

Constructor & Destructor Documentation

◆ AvoidPointsInCoveragePath()

moveit_pro::behaviors::AvoidPointsInCoveragePath::AvoidPointsInCoveragePath	(	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::AvoidPointsInCoveragePath::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::AvoidPointsInCoveragePath::providedPorts ( )

static

Declare input and output ports.

Returns: The list of ports for this behavior.

◆ tick()

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

override

Execute the behavior: modify the coverage path to avoid obstacle points.

Returns: SUCCESS after producing the modified path, FAILURE if required ports are missing.

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

Public Member Functions