moveit_pro::behaviors::GetMask2DFromRegion Class Reference

Converts a user-selected 2D region into a Mask2D that the 3D-lifting Behaviors consume. More...

#include <get_mask2d_from_region.hpp>

Inheritance diagram for moveit_pro::behaviors::GetMask2DFromRegion:

Collaboration diagram for moveit_pro::behaviors::GetMask2DFromRegion:

Public Member Functions
	GetMask2DFromRegion (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

Converts a user-selected 2D region into a Mask2D that the 3D-lifting Behaviors consume.

Thin BT wrapper over regionToMask2D(): reads the region polygon (see GetRegionFromUser), rasterizes it, and writes a single-element masks2d vector for GetMasks3DFromMasks2D (which projects it onto the camera point cloud to recover the 3D region).

Data Port Name	Port Type	Object Type
region	input	geometry_msgs::msg::PolygonStamped
camera_info	input	sensor_msgs::msg::CameraInfo
masks2d	output	std::vector<moveit_studio_vision_msgs::msg::Mask2D>

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

GetMask2DFromRegion()

moveit_pro::behaviors::GetMask2DFromRegion::GetMask2DFromRegion	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources
	)

Member Function Documentation

metadata()

BT::KeyValueVector moveit_pro::behaviors::GetMask2DFromRegion::metadata ( )

static

providedPorts()

BT::PortsList moveit_pro::behaviors::GetMask2DFromRegion::providedPorts ( )

static

tick()

BT::NodeStatus moveit_pro::behaviors::GetMask2DFromRegion::tick ( )

override

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

• get_mask2d_from_region.hpp
• get_mask2d_from_region.cpp