Replaces the orientation of a PoseStamped with a fixed quaternion. More...

#include <override_pose_orientation.hpp>

Inheritance diagram for moveit_pro::behaviors::OverridePoseOrientation:

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Collaboration diagram for moveit_pro::behaviors::OverridePoseOrientation:

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Public Member Functions
	OverridePoseOrientation (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 > &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 ()

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

Detailed Description

Replaces the orientation of a PoseStamped with a fixed quaternion.

This decouples grasp orientation from detection noise — the source pose's position is preserved while the orientation is overridden. Useful when a detected pose (e.g. from an AprilTag) has accurate position but noisy orientation. Use TransformPose if you also need to apply a positional offset.

Data Port Name	Port Type	Object Type
input_pose	input	geometry_msgs::msg::PoseStamped
orientation_xyzw	input	std::vector<double>
output_pose	output	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

◆ OverridePoseOrientation()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions