Detects AprilTag markers from an image. More...

#include <detect_apriltags.hpp>

Inheritance diagram for moveit_pro::behaviors::DetectAprilTags:

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Collaboration diagram for moveit_pro::behaviors::DetectAprilTags:

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Public Member Functions
	DetectAprilTags (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

Detects AprilTag markers from an image.

Data Port Name	Port Type	Object Type
image	input	sensor_msgs::msg::Image
camera_info	input	sensor_msgs::msg::CameraInfo
apriltag_family_name	input	std::string
tag_size	input	double
max_hamming	input	int
n_threads	input	int
quad_decimate	input	int
quad_sigma	input	double
refine_edges	input	bool
detections	output	moveit_studio_vision_msgs::msg::ObjectDetectionArray

Constructor & Destructor Documentation

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

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

static

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

static

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