Requests a 2D region (bounding box or polygon) from the user by switching the view and displaying a prompt in the UI. More...

#include <get_region_from_user.hpp>

Inheritance diagram for moveit_pro::behaviors::GetRegionFromUser:

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Collaboration diagram for moveit_pro::behaviors::GetRegionFromUser:

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Public Member Functions
	GetRegionFromUser (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Construct a new GetRegionFromUser object.

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.

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 ()
	Returns list of ports for this Behavior.

static BT::KeyValueVector	metadata ()
	Returns metadata for this Behavior.

Detailed Description

Requests a 2D region (bounding box or polygon) from the user by switching the view and displaying a prompt in the UI.

The user draws either a rectangular bounding box or a polygon on the named camera view. The output is a geometry_msgs/PolygonStamped whose points are normalized image coordinates in [0..1] (z unused). A bounding box returns four axis-aligned corners; a polygon returns the convex hull of the user's clicks. The returned region is validated on the backend, not trusted from the UI. Polygon selection is validated by the backend but is not yet available in the UI.

Data Port Name	Port Type	Object Type
view_name	Input	std::string
region_name	Input	std::string
prompt	Input	std::string
shape_mode	Input	std::string
min_vertices	Input	int
max_vertices	Input	int
region	Output	geometry_msgs::msg::PolygonStamped

Constructor & Destructor Documentation

◆ GetRegionFromUser()

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

explicit

Construct a new GetRegionFromUser object.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Member Function Documentation

◆ metadata()

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

static

Returns metadata for this Behavior.

Returns: BT::KeyValueVector The Behavior metadata.

◆ providedPorts()

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

static

Returns list of ports for this Behavior.

Returns: BT::PortsList The list of I/O Ports

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