moveit_pro::behaviors::CreateTransform Class Reference

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

#include <create_transform.hpp>

Inheritance diagram for moveit_pro::behaviors::CreateTransform:

Collaboration diagram for moveit_pro::behaviors::CreateTransform:

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 > &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 ()
	Returns list of ports for this behavior.
static BT::KeyValueVector	metadata ()

Additional Inherited Members
Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

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

Data Port Name	Port Type	Object Type
translation_xyz	input	std::vector<double>
rotation_xyzw	input	std::vector<double>
transform	output	geometry_msgs::msg::Transform

The Behavior checks that translation_xyz has size 3 and rotation_xyzw has size 4, then normalizes the quaternion.

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:

• create_transform.hpp
• create_transform.cpp