Create a geometry_msgs::msg::PoseStamped and writes it to the Blackboard. More...

#include <create_stamped_pose.hpp>

Inheritance diagram for moveit_studio::behaviors::CreateStampedPose:

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Collaboration diagram for moveit_studio::behaviors::CreateStampedPose:

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Public Member Functions
	CreateStampedPose (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources)
	Construct a new CreateStampedPose behavior.

BT::NodeStatus	tick () override
	Contains the logic to create a valid geometry_msgs::msg::PoseStamped message.

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 ()
	Returns list of ports for this behavior.

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

Create a geometry_msgs::msg::PoseStamped and writes it to the Blackboard.

Data Port Name	Port Type	Object Type
reference_frame	input	std::string
position_xyz	input	std::vector<double>
orientation_xyzw	input	std::vector<double>
stamped_pose	output	geometry_msgs::msg::PoseStamped

The Behavior checks to see if the input value position_xyz is of size 3 and if the input value of orientation_xyzw is of size 4. It then normalizes the quaternion.

Constructor & Destructor Documentation

◆ CreateStampedPose()

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

Construct a new CreateStampedPose behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Returns list of ports for this behavior.

Returns: BT::PortsList

◆ tick()

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

override

Contains the logic to create a valid geometry_msgs::msg::PoseStamped message.

Returns: BT::NodeStatus Returns success if successful, else failure.

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

Public Member Functions

Static Public Member Functions