moveit_studio::behaviors::ForceExceedsThreshold Class Reference

Monitors wrench messages published to topic, and returns SUCCESS if the magnitude of the wrench measurements exceeds a force threshold for a minimum number of consecutive readings. More...

#include <force_exceeds_threshold.hpp>

Inheritance diagram for moveit_studio::behaviors::ForceExceedsThreshold:

Collaboration diagram for moveit_studio::behaviors::ForceExceedsThreshold:

Public Member Functions
	ForceExceedsThreshold (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	onStart () override
	Initializes the wrench topic subscriber based on the provided parameters. More...
BT::NodeStatus	onRunning () override
	Monitors the force tracking state until a terminal state is reached. More...
void	onHalted () override
	Stops the wrench topic subscriber. More...
void	addWrenchReading (const geometry_msgs::msg::WrenchStamped::SharedPtr msg, const double force_threshold, const std::size_t minimum_consecutive_wrench_values)
	Transforms measured wrench to the specified hand frame using tform_ft_sensor_to_hand_, compares it to the provided bounds, and sets wrench_exceeded_threshold_ to True if the measured wrench is outside the bounds. 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 Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Monitors wrench messages published to topic, and returns SUCCESS if the magnitude of the wrench measurements exceeds a force threshold for a minimum number of consecutive readings.

Data Port Name	Port Type	Object Type
wrench_topic_name	Input	std::string
hand_frame_name	Input	std::string
wrench_frame_name	Input	std::string
minimum_consecutive_wrench_values	Input	std::size_t
force_threshold	Input	double

Constructor & Destructor Documentation

ForceExceedsThreshold()

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

Member Function Documentation

addWrenchReading()

void moveit_studio::behaviors::ForceExceedsThreshold::addWrenchReading	(	const geometry_msgs::msg::WrenchStamped::SharedPtr	msg,
		const double	force_threshold,
		const std::size_t	minimum_consecutive_wrench_values
	)

Transforms measured wrench to the specified hand frame using tform_ft_sensor_to_hand_, compares it to the provided bounds, and sets wrench_exceeded_threshold_ to True if the measured wrench is outside the bounds.

Parameters

msg	Latest WrenchStamped message.
force_threshold	The maximum force threshold to compare the measured wrench against.
minimum_consecutive_wrench_values	The minimum consecutive number of times the measured force needs to exceed the force_threshold value and set wrench_exceeded_threshold_ to True.

metadata()

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

static

onHalted()

void moveit_studio::behaviors::ForceExceedsThreshold::onHalted ( )

override

Stops the wrench topic subscriber.

onRunning()

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

override

Monitors the force tracking state until a terminal state is reached.

Returns

SUCCESS if the force has exceeded threshold for the number of specified consecutive samples, else RUNNING.

onStart()

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

override

Initializes the wrench topic subscriber based on the provided parameters.

Returns

RUNNING if the Behavior initialized correctly, FAILURE if it did not.

providedPorts()

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

static

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

• force_exceeds_threshold.hpp
• force_exceeds_threshold.cpp