moveit_studio::behaviors::CalibrateCameraPose Class Reference

Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector. More...

#include <calibrate_camera_pose.hpp>

Inheritance diagram for moveit_studio::behaviors::CalibrateCameraPose:

Collaboration diagram for moveit_studio::behaviors::CalibrateCameraPose:

Public Member Functions
	CalibrateCameraPose (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources)
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 ()
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

Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector.

Data Port Name	Port Type	Object Type
detected_poses	input	geometry_msgs::msg::PoseStamped
calibration_tool_frame	input	std::string
base_link	input	std::string
camera_optical_frame	input	std::string
computed_pose	output	geometry_msgs::msg::PoseStamped
debug_base_calibration_pose	output	geometry_msgs::msg::PoseStamped
debug_camera_calibration_pose	output	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

CalibrateCameraPose()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

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

• calibrate_camera_pose.hpp
• calibrate_camera_pose.cpp