This Behavior computes the Cartesian Pose of a link from a given Joint State. If the Joint State message does not contain all of the joints for calculating the pose, it will use the existing joint states for the missing joint states. More...

#include <compute_link_pose_forward_kinematics.hpp>

Inheritance diagram for moveit_pro::behaviors::ComputeLinkPoseForwardKinematics:

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Collaboration diagram for moveit_pro::behaviors::ComputeLinkPoseForwardKinematics:

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Classes
struct	InfoAndWarnings

Public Member Functions
	ComputeLinkPoseForwardKinematics (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)

BT::NodeStatus	tick () override

tl::expected< geometry_msgs::msg::PoseStamped, std::string >	compute_link_pose_forward_kinematics (const moveit_msgs::msg::PlanningScene &planning_scene, const std::shared_ptr< moveit_pro::base::RobotModel > &robot_model, const sensor_msgs::msg::JointState &joint_state_for_fk, const std::string &link_name, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources, InfoAndWarnings &info_and_warnings) const

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

This Behavior computes the Cartesian Pose of a link from a given Joint State. If the Joint State message does not contain all of the joints for calculating the pose, it will use the existing joint states for the missing joint states.

Data Port Name	Port Type	Object Type
planning_scene	input	moveit_msgs::msg::PlanningScene
joint_state	input	sensor_msgs::msg::JointState
link_name	input	std::string
link_pose	output	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

◆ ComputeLinkPoseForwardKinematics()

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

Member Function Documentation

◆ compute_link_pose_forward_kinematics()

tl::expected< geometry_msgs::msg::PoseStamped, std::string > moveit_pro::behaviors::ComputeLinkPoseForwardKinematics::compute_link_pose_forward_kinematics	(	const moveit_msgs::msg::PlanningScene &	planning_scene,
		const std::shared_ptr< moveit_pro::base::RobotModel > &	robot_model,
		const sensor_msgs::msg::JointState &	joint_state_for_fk,
		const std::string &	link_name,
		const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &	shared_resources,
		InfoAndWarnings &	info_and_warnings
	)		const

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Classes

Public Member Functions

Static Public Member Functions