Generates a coverage (raster) path of tool poses over a rectangular region. More...

#include <generate_surface_coverage_path.hpp>

Inheritance diagram for moveit_pro::behaviors::GenerateSurfaceCoveragePath:

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Collaboration diagram for moveit_pro::behaviors::GenerateSurfaceCoveragePath:

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

BT::NodeStatus	tick () override

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 ()

static BT::KeyValueVector	metadata ()

Detailed Description

Generates a coverage (raster) path of tool poses over a rectangular region.

Thin BT wrapper over generateRasterPath(): reads the region and parameters from ports, computes the serpentine raster, and writes it to coverage_path for a Cartesian planner (e.g. PlanCartesianPath) to follow. Intended to turn a user-selected region (see GetRegionFromUser, projected to 3D) into a wipe/inspection sweep.

Data Port Name	Port Type	Object Type
region_pose	input	geometry_msgs::msg::PoseStamped
region_dimensions	input	std::vector<double>
line_spacing	input	double
point_spacing	input	double
standoff	input	double
margin	input	double
coverage_path	output	std::vector<geometry_msgs::msg::PoseStamped>

Parameters

name	The name of this Behavior.
config	The configuration options for this Behavior.
shared_resources	The shared resources common to all Behaviors.

Constructor & Destructor Documentation

◆ GenerateSurfaceCoveragePath()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions