A Behavior to compute a propagation (signed) distance field from a planning scene. More...

#include <compute_signed_distance_field.hpp>

Inheritance diagram for moveit_pro::behaviors::ComputeSignedDistanceField:

[legend]

Collaboration diagram for moveit_pro::behaviors::ComputeSignedDistanceField:

[legend]

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

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.

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 > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Protected Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
virtual tl::expected< void, std::string >	doHalt ()
	Optionally implement additional work needed to cleanly interrupt the async process.

void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

A Behavior to compute a propagation (signed) distance field from a planning scene.

This async Behavior is intended to run once after the planning scene is finalized so that downstream collision-aware planners can reuse the resulting field without rebuilding it. Each world collision object in the planning scene is voxelized into a propagation distance field over an axis-aligned bounding box defined in the planning frame. When signed_distance is enabled, distances are also propagated negatively inside obstacles.

Data Port Name	Port Type	Object Type
planning_scene	input	moveit_msgs::msg::PlanningScene
bbox_min	input	std::vector<double>
bbox_max	input	std::vector<double>
resolution	input	double
max_distance	input	double
signed_distance	input	bool
link_names	input	std::vector<std::string>
sdf	output	std::shared_ptr<const moveit_pro::base::distance_field::DistanceField>

Constructor & Destructor Documentation

◆ ComputeSignedDistanceField()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions