Create a geometry_msgs::msg::Transform and write it to the Blackboard. More...

#include <create_transform.hpp>

Inheritance diagram for moveit_pro::behaviors::CreateTransform:

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Collaboration diagram for moveit_pro::behaviors::CreateTransform:

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Public Member Functions
	CreateTransform (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)
	Construct a new CreateTransform behavior.

BT::NodeStatus	tick () override
	Contains the logic to create a valid geometry_msgs::msg::Transform message.

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 ()
	Returns list of ports for this behavior.

static BT::KeyValueVector	metadata ()

Detailed Description

Create a geometry_msgs::msg::Transform and write it to the Blackboard.

Data Port Name	Port Type	Object Type
translation_xyz	input	geometry_msgs::msg::Vector3
rotation_xyzw	input	geometry_msgs::msg::Quaternion
transform	output	geometry_msgs::msg::Transform

Ports accept the x;y;z / x;y;z;w semicolon literal form or a blackboard reference. The Behavior normalizes the quaternion before writing the transform.

Constructor & Destructor Documentation

◆ CreateTransform()

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

Construct a new CreateTransform behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Returns list of ports for this behavior.

Returns: BT::PortsList

◆ tick()

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

override

Contains the logic to create a valid geometry_msgs::msg::Transform message.

Returns: BT::NodeStatus Returns success if successful, else failure.

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

Public Member Functions