MoveIt Pro Behavior
Core Behaviors for MoveIt Pro
moveit_studio::behaviors::CropPointsInSphere Class Referencefinal

Given a point cloud and a sphere-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid. More...

#include <crop_points_in_sphere.hpp>

Inheritance diagram for moveit_studio::behaviors::CropPointsInSphere:
Collaboration diagram for moveit_studio::behaviors::CropPointsInSphere:

Public Member Functions

 CropPointsInSphere (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
 
- 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(). More...
 
BT::NodeStatus onRunning () override
 Required implementation of BT::StatefulActionNode::onRunning(). More...
 
void onHalted () override
 Required implementation of BT::StatefulActionNode::onHalted(). More...
 
void resetStatus ()
 Resets the internal status of this node. More...
 
- 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. More...
 

Static Public Member Functions

static BT::PortsList providedPorts ()
 
static BT::KeyValueVector metadata ()
 

Additional Inherited Members

- 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. More...
 
void notifyCanHalt ()
 Called when runAsync() finishes to notify onHalted() that the async process has finished. More...
 
- Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContextshared_resources_
 

Detailed Description

Given a point cloud and a sphere-shaped region of interest, create a new point cloud which contains only the points that are inside the region of interest. The dimensions and size of the region of interest are defined relative to its centroid.

Data Port Name Port Type Object Type
point_cloud input sensor_msgs::msg::PointCloud2
crop_sphere_centroid_pose input geometry_msgs::msg::PoseStamped
crop_sphere_radius input std::vector<double>
point_cloud_cropped output sensor_msgs::msg::PointCloud2

Constructor & Destructor Documentation

◆ CropPointsInSphere()

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

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_studio::behaviors::CropPointsInSphere::metadata ( )
static

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::CropPointsInSphere::providedPorts ( )
static

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