Extracts contours from a point cloud slice. More...

#include <get_contour_from_pointcloud_slice.hpp>

Inheritance diagram for moveit_pro::behaviors::GetContourFromPointCloudSlice:

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Collaboration diagram for moveit_pro::behaviors::GetContourFromPointCloudSlice:

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Public Member Functions
	GetContourFromPointCloudSlice (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 ()

Protected Member Functions
tl::expected< bool, std::string >	doWork () override
	User-implemented function which handles executing the potentially-long-running process.

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.

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

Detailed Description

Extracts contours from a point cloud slice.

This behavior takes a point cloud and extracts 2D contours from a specified slice of the cloud and an angle range. The slice is defined by a plane normal and distance from origin.

The max_pose_spacing parameter sets a maximum distance between consecutive waypoints:

Waypoints farther apart than this value will be interpolated with additional waypoints
Waypoints closer than this value are preserved to maintain contour accuracy
This ensures the output path captures the contour shape while limiting maximum spacing

Data Port Name	Port Type	Object Type
input_cloud	input	sensor_msgs::msg::PointCloud2
slice_plane	input	geometry_msgs::msg::PoseStamped
slice_distance_from_plane	input	double
contour_crop_angle_start	input	double
contour_crop_angle_span	input	double
hull_alpha	input	double
max_pose_spacing	input	double
contour_path	output	std::vector<geometry_msgs::msg::PoseStamped>

Constructor & Destructor Documentation

◆ GetContourFromPointCloudSlice()

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

Member Function Documentation

◆ doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::GetContourFromPointCloudSlice::doWork ( )

overrideprotectedvirtual

User-implemented function which handles executing the potentially-long-running process.

This function is called within an async process in a separate thread.

Returns: A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.

Implements moveit_pro::behaviors::AsyncBehaviorBase.

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions

Static Public Member Functions

Protected Member Functions