#include <create_graspable_object.hpp>

Inheritance diagram for moveit_studio::behaviors::CreateGraspableObject:

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Collaboration diagram for moveit_studio::behaviors::CreateGraspableObject:

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Public Member Functions
	CreateGraspableObject (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

Creates a GraspableObject message (of a primitive Cuboid) given its pose given as individual points, the dimensions of the Cuboid, a frame ID, an ID for the newly created object, and whether any top, front, or side graspable faces should be generated.

Data Port Name	Port Type	Object Type
pose	Input	geometry_msgs::msg::PoseStamped
dx	Input	double
dy	Input	double
dz	Input	double
object_id	Input	std::string
generate_top_face	Input	bool
generate_front_face	Input	bool
generate_side_faces	Input	bool
cuboid_object	Output	moveit_studio_vision_msgs::msg::GraspableObject

Constructor & Destructor Documentation

◆ CreateGraspableObject()

moveit_studio::behaviors::CreateGraspableObject::CreateGraspableObject	(	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::CreateGraspableObject::metadata ( )

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions