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MoveIt Pro API
Core Behaviors for MoveIt Pro
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Given a vector of poses and a box-shaped region of interest, create a new vector of poses which contains only the poses 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_poses_in_box.hpp>
Public Member Functions | |
CropPosesInBox (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
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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. | |
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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 | |
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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. | |
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std::shared_ptr< BehaviorContext > | shared_resources_ |
Given a vector of poses and a box-shaped region of interest, create a new vector of poses which contains only the poses 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 |
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poses | input | std::vector<geometry_msgs::msg::PoseStamped> |
crop_box_centroid_pose | input | geometry_msgs::msg::PoseStamped |
crop_box_size | input | std::vector<double> |
poses_cropped | output | std::vector<geometry_msgs::msg::PoseStamped> |
moveit_studio::behaviors::CropPosesInBox::CropPosesInBox | ( | const std::string & | name, |
const BT::NodeConfiguration & | config, | ||
const std::shared_ptr< BehaviorContext > & | shared_resources | ||
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