Gets the normal vectors for a given mesh and returns the normal vector poses to the caller. More...

#include <get_mesh_normal_poses.hpp>

Inheritance diagram for moveit_pro::behaviors::GetMeshNormalPoses:

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Collaboration diagram for moveit_pro::behaviors::GetMeshNormalPoses:

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Public Member Functions
	GetMeshNormalPoses (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.

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.

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 > &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

Gets the normal vectors for a given mesh and returns the normal vector poses to the caller.

The mesh must be associated with a specific link name in the robot model URDF.

Data Port Name	Port Type	Object Type
link_name	input	std::string
discretization_step_size	input	double
mesh_normal_poses	output	std::vector<geometry_msgs::msg::PoseStamped>

Constructor & Destructor Documentation

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

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

static

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

static

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