moveit_studio::behaviors::AveragePoseStamped Class Reference

This Behavior calculates the running average of incoming Pose Stamped ROS messages. More...

#include <average_pose_stamped.hpp>

Inheritance diagram for moveit_studio::behaviors::AveragePoseStamped:

Collaboration diagram for moveit_studio::behaviors::AveragePoseStamped:

Public Member Functions
	AveragePoseStamped (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources)
	Constructor for the AveragePoseStamped behavior.
BT::NodeStatus	onStart () override
	Adds a Pose Stamped sample to the running average and returns it on a port.
BT::NodeStatus	onRunning () override
	Averages the pose.
void	onHalted () override
Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	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 ()
	Implementation of the required providedPorts() function for the AveragePoseStamped Behavior.
static BT::KeyValueVector	metadata ()

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

Detailed Description

This Behavior calculates the running average of incoming Pose Stamped ROS messages.

Data Port Name	Port Type	Object Type
run_continuously	Input	bool
num_samples	Input	double
max_distance	Input	double
max_rotation	Input	double
pose_sample	Input	geometry_msgs::msg::PoseStamped
avg_pose	Output	geometry_msgs::msg::PoseStamped

If the current sample exceeds a "max_distance" or "max_rotation" (specified as input ports) from the current average pose the behavior will return FAILURE. The Behavior will use the last "num_samples" Pose Stamped messages to calculate the average pose.

Notes:

• This Behavior can be configured to terminate after a finite number of samples or continuously calculate the average using a rolling window of a fixed size denoted by "num_samples". By default, the Behavior terminates after a finite number of samples. Setting "run_continuously" to true enables the continuous calculation functionality. Letting the Behavior continuously calculate the average can be useful if used in conjunction with parallel nodes. Limitations:
• If the first sample is an outlier compared to what is normally returned this behavior can fail because the average is initially set by the first pose.

Constructor & Destructor Documentation

AveragePoseStamped()

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

Constructor for the AveragePoseStamped behavior.

Parameters

name	The name of a particular instance of this Behavior. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
shared_resources	A shared_ptr to a BehaviorContext that is shared among all SharedResourcesNode Behaviors in the behavior tree. This BehaviorContext is owned by the Studio Agent's ObjectiveServerNode.
config	This contains runtime configuration info for this Behavior, such as the mapping between the Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.

An important limitation is that the members of the base Behavior class are not instantiated until after the initialize() function is called, so these classes should not be used within the constructor.

Member Function Documentation

metadata()

BT::KeyValueVector moveit_studio::behaviors::AveragePoseStamped::metadata ( )

static

onHalted()

void moveit_studio::behaviors::AveragePoseStamped::onHalted ( )

override

onRunning()

BT::NodeStatus moveit_studio::behaviors::AveragePoseStamped::onRunning ( )

override

Averages the pose.

Returns

RUNNING if number of samples hasn't been reached or if run_parallel is true, FAILURE if a new pose sample exceeds the max position or rotation threshold or if average orientation calculation fails, SUCCESS if number of samples has been reached and run_parallel is false.

onStart()

BT::NodeStatus moveit_studio::behaviors::AveragePoseStamped::onStart ( )

override

Adds a Pose Stamped sample to the running average and returns it on a port.

Returns

Failure when a port was set incorrectly, Success otherwise.

Initializes the position and quaternion states and sets the average pose to the first pose received

Returns

SUCCESS if number of poses to sample was less than 1 and the behavior is not set to run in parallel

providedPorts()

BT::PortsList moveit_studio::behaviors::AveragePoseStamped::providedPorts ( )

static

Implementation of the required providedPorts() function for the AveragePoseStamped Behavior.

Returns

the ports listed above.

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

• average_pose_stamped.hpp
• average_pose_stamped.cpp