moveit_studio::behaviors::FindSingularCuboids Class Reference

Finds well-singulated cuboids supported by a surface within a point cloud. More...

#include <find_singular_cuboids.hpp>

Inheritance diagram for moveit_studio::behaviors::FindSingularCuboids:

Collaboration diagram for moveit_studio::behaviors::FindSingularCuboids:

Public Member Functions
	FindSingularCuboids (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	onStart () override
BT::NodeStatus	onRunning () override
void	onHalted () override
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 ()
static BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kPortIDPointCloud = "point_cloud"
static constexpr auto	kPortIDBaseFrame = "base_frame"
static constexpr auto	kPortIDPlaneModelThreshold = "plane_model_threshold"
static constexpr auto	kPortIDClusterDistanceThreshold = "cluster_distance_threshold"
static constexpr auto	kPortIDCropBoxOriginXYZ = "crop_box_origin_xyz"
static constexpr auto	kPortIDCropBoxSizeXYZ = "crop_box_size_xyz"
static constexpr auto	kPortIDDetectedShapes = "detected_shapes"

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

Detailed Description

Finds well-singulated cuboids supported by a surface within a point cloud.

This behavior makes some assumptions about the environment:

• The input point cloud must include a large flat surface, such as a tabletop or floor.
• The filtering and cropping steps are expected to remove all points which are far away from this surface.
• After filtering, all remaining clusters of points are assumed to be objects which are supported by the surface.

The output GraspableObjects will be transformed so that their parent frame is the frame defined by the base_frame config parameter.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
base_frame	input	std::string
plane_model_threshold	input	double
cluster_distance_threshold	input	double
crop_box_origin_xyz	input	std::vector<double>
crop_box_size_xyz	input	std::vector<double>
detected_shapes	output	std::vector<GraspableObject>

Constructor & Destructor Documentation

FindSingularCuboids()

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

Member Function Documentation

metadata()

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

static

onHalted()

void moveit_studio::behaviors::FindSingularCuboids::onHalted ( )

override

onRunning()

BT::NodeStatus moveit_studio::behaviors::FindSingularCuboids::onRunning ( )

override

onStart()

BT::NodeStatus moveit_studio::behaviors::FindSingularCuboids::onStart ( )

override

providedPorts()

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

static

Member Data Documentation

kPortIDBaseFrame

constexpr auto moveit_studio::behaviors::FindSingularCuboids::kPortIDBaseFrame = "base_frame"

staticconstexpr

kPortIDClusterDistanceThreshold

constexpr auto moveit_studio::behaviors::FindSingularCuboids::kPortIDClusterDistanceThreshold = "cluster_distance_threshold"

staticconstexpr

kPortIDCropBoxOriginXYZ

constexpr auto moveit_studio::behaviors::FindSingularCuboids::kPortIDCropBoxOriginXYZ = "crop_box_origin_xyz"

staticconstexpr

kPortIDCropBoxSizeXYZ

constexpr auto moveit_studio::behaviors::FindSingularCuboids::kPortIDCropBoxSizeXYZ = "crop_box_size_xyz"

staticconstexpr

kPortIDDetectedShapes

constexpr auto moveit_studio::behaviors::FindSingularCuboids::kPortIDDetectedShapes = "detected_shapes"

staticconstexpr

kPortIDPlaneModelThreshold

constexpr auto moveit_studio::behaviors::FindSingularCuboids::kPortIDPlaneModelThreshold = "plane_model_threshold"

staticconstexpr

kPortIDPointCloud

constexpr auto moveit_studio::behaviors::FindSingularCuboids::kPortIDPointCloud = "point_cloud"

staticconstexpr

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

• find_singular_cuboids.hpp
• find_singular_cuboids.cpp