Trims a point cloud to contain only points within a quadrilateral boundary defined by 4 waypoints. More...

#include <trim_pointcloud_surface.hpp>

Inheritance diagram for moveit_pro::behaviors::TrimPointcloudSurface:

Collaboration diagram for moveit_pro::behaviors::TrimPointcloudSurface:

Public Member Functions
	TrimPointcloudSurface (const std::string &name, const BT::NodeConfiguration &config)
	Constructor.

BT::NodeStatus	tick () override
	Execute the behavior: trim the point cloud to the quadrilateral boundary.

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Declare input and output ports.

static BT::KeyValueVector	metadata ()
	Provide metadata for the MoveIt Studio Developer Tool UI.

Detailed Description

Trims a point cloud to contain only points within a quadrilateral boundary defined by 4 waypoints.

The behavior fits a plane to the 4 boundary waypoints using SVD, projects both the waypoints and all cloud points onto that plane, and retains only the points whose 2D projections fall inside the resulting quadrilateral polygon.

Data Port Name	Port Type	Object Type
waypoints	input	std::vector<geometry_msgs::msg::PoseStamped>
point_cloud	input	sensor_msgs::msg::PointCloud2
trimmed_point_cloud	output	sensor_msgs::msg::PointCloud2

Constructor & Destructor Documentation

◆ TrimPointcloudSurface()

moveit_pro::behaviors::TrimPointcloudSurface::TrimPointcloudSurface	(	const std::string &	name,
		const BT::NodeConfiguration &	config
	)

Constructor.

Parameters

name	The name of a particular instance of this Behavior.
config	Runtime configuration for this Behavior, including port mappings.

Member Function Documentation

◆ metadata()

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

static

Provide metadata for the MoveIt Studio Developer Tool UI.

Returns: A BT::KeyValueVector containing the Behavior metadata.

◆ providedPorts()

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

static

Declare input and output ports.

Returns: The list of ports for this behavior.

◆ tick()

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

override

Execute the behavior: trim the point cloud to the quadrilateral boundary.

Returns: SUCCESS if trimming succeeded, FAILURE otherwise.

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

Public Member Functions