moveit_pro::behaviors::CalibrateCameraPose Class Reference

Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector. More...

#include <calibrate_camera_pose.hpp>

Inheritance diagram for moveit_pro::behaviors::CalibrateCameraPose:

Collaboration diagram for moveit_pro::behaviors::CalibrateCameraPose:

Public Member Functions
	CalibrateCameraPose (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)
BT::NodeStatus	tick () override
Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
	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 ()
static BT::KeyValueVector	metadata ()

Detailed Description

Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector.

Data Port Name	Port Type	Object Type
right_tag_pose	input	geometry_msgs::msg::PoseStamped
left_tag_pose	input	geometry_msgs::msg::PoseStamped
bottom_tag_pose	input	geometry_msgs::msg::PoseStamped
calibration_tool_frame	input	std::string
base_link	input	std::string
camera_optical_frame	input	std::string
computed_pose	output	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

CalibrateCameraPose()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

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

• calibrate_camera_pose.hpp
• calibrate_camera_pose.cpp