Computes a 3D convex hull around an input point cloud and densely resamples the surface to fill holes. More...

#include <get_convex_hull_pointcloud.hpp>

Inheritance diagram for moveit_pro::behaviors::GetConvexHullPointCloud:

[legend]

Collaboration diagram for moveit_pro::behaviors::GetConvexHullPointCloud:

[legend]

Public Member Functions
	GetConvexHullPointCloud (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

Computes a 3D convex hull around an input point cloud and densely resamples the surface to fill holes.

Takes an input point cloud with holes or gaps, computes its 3D convex hull, and resamples the hull surface triangles uniformly at the given sampling density. The output is a dense, solid point cloud covering the convex hull surface. Output points are colored using the average color of the hull vertices.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
sampling_density	input	double
filled_point_cloud	output	sensor_msgs::msg::PointCloud2

Constructor & Destructor Documentation

◆ GetConvexHullPointCloud()

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

Parameters

name	The name of this Behavior.
config	The node configuration.
shared_resources	Shared resources.

Member Function Documentation

◆ doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::GetConvexHullPointCloud::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::GetConvexHullPointCloud::metadata ( )

static

◆ providedPorts()

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

static

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

Public Member Functions

Static Public Member Functions

Protected Member Functions