Finds a series of waypoints (slice planes) along a selected edge between 4 corner waypoints. More...

#include <find_slice_planes_along_edge.hpp>

Inheritance diagram for moveit_pro::behaviors::FindSlicePlanesAlongEdge:

Collaboration diagram for moveit_pro::behaviors::FindSlicePlanesAlongEdge:

Public Member Functions
	FindSlicePlanesAlongEdge (const std::string &name, const BT::NodeConfiguration &config)
	Constructor.

BT::NodeStatus	tick () override
	Execute the behavior: generate slice plane waypoints along the selected edge.

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Declare input and output ports.

static BT::KeyValueVector	metadata ()
	Provide metadata for the MoveIt Studio Developer Tool UI.

Detailed Description

Finds a series of waypoints (slice planes) along a selected edge between 4 corner waypoints.

This behavior takes 4 corner waypoints and generates evenly spaced waypoints along one of the 4 edges. The edge is selected by the edge_number input (1-4). The generated waypoints have their Z-axis aligned along the edge direction while being shifted halfway toward the opposite edge so that they cover the full surface.

Data Port Name	Port Type	Object Type
waypoints	input	std::vector<geometry_msgs::msg::PoseStamped>
edge_number	input	int
stride_spacing	input	double
shift_distance	input	std::vector<double>
output_waypoints	output	std::vector<geometry_msgs::msg::PoseStamped>

Constructor & Destructor Documentation

◆ FindSlicePlanesAlongEdge()

moveit_pro::behaviors::FindSlicePlanesAlongEdge::FindSlicePlanesAlongEdge	(	const std::string &	name,
		const BT::NodeConfiguration &	config
	)

Constructor.

Parameters

name	The name of a particular instance of this Behavior.
config	Runtime configuration for this Behavior, including port mappings.

Member Function Documentation

◆ metadata()

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

static

Provide metadata for the MoveIt Studio Developer Tool UI.

Returns: A BT::KeyValueVector containing the Behavior metadata.

◆ providedPorts()

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

static

Declare input and output ports.

Returns: The list of ports for this behavior.

◆ tick()

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

override

Execute the behavior: generate slice plane waypoints along the selected edge.

Returns: SUCCESS if waypoints were generated, FAILURE otherwise.

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

Public Member Functions