This behavior receives point cloud data, filters points inside a cylinder around a reference point, and creates a sphere at each of the closest points within the cylinder. The spheres are returned as a moveit_msgs::msg::CollisionObject message. More...

#include <create_collision_spheres_at_closest_points.hpp>

Inheritance diagram for moveit_studio::behaviors::CreateCollisionSpheresAtClosestPoints:

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Collaboration diagram for moveit_studio::behaviors::CreateCollisionSpheresAtClosestPoints:

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

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

virtual	~AsyncBehaviorBase ()=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().

void	resetStatus ()
	Resets the internal status of this node.

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 behavior.

static BT::KeyValueVector	metadata ()
	Implementation of the metadata() function for displaying metadata, such as Behavior description and subcategory, in the MoveIt Studio Developer Tool.

Protected Member Functions
tl::expected< bool, std::string >	doWork () override
	Class derived from AsyncBehaviorBase must implement doWork() to perform the potentially-long-running process.

Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
virtual tl::expected< void, std::string >	doHalt ()
	Optionally implement additional work needed to cleanly interrupt the async process.

void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

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

Detailed Description

This behavior receives point cloud data, filters points inside a cylinder around a reference point, and creates a sphere at each of the closest points within the cylinder. The spheres are returned as a moveit_msgs::msg::CollisionObject message.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
reference_pose	input	geometry_msgs::msg::PoseStamped
filter_cylinder_radius	input	double
filter_cylinder_height	input	double
sphere_radius	input	double
closest_point_count	input	int
collision_object	output	moveit_msgs::msg::CollisionObject

Constructor & Destructor Documentation

◆ CreateCollisionSpheresAtClosestPoints()

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

Constructor for the CreateCollisionSpheresAtClosestPoints behavior.

Member Function Documentation

◆ doWork()

tl::expected< bool, std::string > moveit_studio::behaviors::CreateCollisionSpheresAtClosestPoints::doWork ( )

overrideprotectedvirtual

Class derived from AsyncBehaviorBase must implement doWork() to perform the potentially-long-running process.

Implements moveit_studio::behaviors::AsyncBehaviorBase.

◆ metadata()

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

static

Implementation of the metadata() function for displaying metadata, such as Behavior description and subcategory, in the MoveIt Studio Developer Tool.

◆ providedPorts()

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

static

Implementation of the required providedPorts() function for the behavior.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions