Calculates the offset transform from source_pose to destination_pose. This can be used to measure the distance between two poses and returns the result relative to the source_pose. More...

#include <calculate_pose_offset.hpp>

Inheritance diagram for moveit_studio::behaviors::CalculatePoseOffset:

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Collaboration diagram for moveit_studio::behaviors::CalculatePoseOffset:

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Public Member Functions
	CalculatePoseOffset (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for CalculatePoseOffset behavior.

BT::NodeStatus	tick () override

Public Member Functions inherited from moveit_studio::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 ()
	Custom tree nodes that have input and/or output ports must define them in this static function.

static BT::KeyValueVector	metadata ()

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

Detailed Description

Calculates the offset transform from source_pose to destination_pose. This can be used to measure the distance between two poses and returns the result relative to the source_pose.

This behavior will fail if the frame_id for the source and destination frames are not connected.

Data Port Name	Port Type	Object Type
source_pose	input	geometry_msgs::msg::PoseStamped
destination_pose	input	geometry_msgs::msg::PoseStamped
source_to_destination_pose	output	geometry_msgs::msg::Pose

Constructor & Destructor Documentation

◆ CalculatePoseOffset()

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

Constructor for CalculatePoseOffset behavior.

Parameters

name	Name of the node. Must match the name used for this node in the behavior tree definition file (the .xml file).
config	Node configuration. Only used here because the BehaviorTree.CPP expects constructor signature with name and config first before custom constructor parameters.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Custom tree nodes that have input and/or output ports must define them in this static function.

This function must be static. It is a requirement set by the BehaviorTree.CPP library.

Returns: List of ports with the names and port info. The return value is for the internal use of the behavior tree.

◆ tick()

BT::NodeStatus moveit_studio::behaviors::CalculatePoseOffset::tick ( )

override

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

Public Member Functions

Static Public Member Functions