Creates a zig-zag path for a robot end-effector to follow, to cover a given area. More...
#include <generate_coverage_path.hpp>
Public Member Functions | |
| GenerateCoveragePath (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
| BT::NodeStatus | tick () override |
 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. More... | |
Static Public Member Functions | |
| static BT::PortsList | providedPorts () |
| static BT::KeyValueVector | metadata () |
Static Public Attributes | |
| static constexpr auto | kBottomRightCornerPortID = "bottom_right_corner" |
| static constexpr auto | kWidthPortID = "width" |
| static constexpr auto | kHeightPortID = "height" |
| static constexpr auto | kStrideDistancePortID = "stride_distance" |
| static constexpr auto | kVectorOfPosesPortID = "vector_of_poses" |
Additional Inherited Members | |
| Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode > | |
| std::shared_ptr< BehaviorContext > | shared_resources_ |
Detailed Description
Creates a zig-zag path for a robot end-effector to follow, to cover a given area.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| bottom_right_corner | Input | geometry_msgs::msg::PoseStamped |
| width | Input | double |
| height | Input | double |
| stride_distance | Input | double |
| vector_of_poses | Output | std::vector<geometry_msgs::msg::PoseStamped> |
The zig-zag path is generated by starting at the bottom right corner of the area, moving to the bottom left corner, then moving up the stride distance, back to the right, and so on until the top left corner is reached. As an example, this a path with 8 waypoints (numbered 1 to 8):
It is assumed the frame of the bottom_right_corner pose is defined as shown in the diagram above, i.e. X pointing to the right, Y pointing up, and Z pointing into the page. The path is generated by moving along the x-axis first, then the y-axis. The width and height parameters define the size of the area to be covered, and the stride_distance parameter defines the distance between each zig-zag path, all dimensions given in meters.
If the stride distance doesn't add up exactly to the height, the last stride won't be included, i.e. the actual area covered will be less than the given height.
The path is returned as a vector of PoseStamped messages, in the same frame as the given bottom_right_corner pose.
Constructor & Destructor Documentation
◆ GenerateCoveragePath()
| moveit_studio::behaviors::GenerateCoveragePath::GenerateCoveragePath | ( | const std::string & | name, |
| const BT::NodeConfiguration & | config, | ||
| const std::shared_ptr< BehaviorContext > & | shared_resources | ||
| ) |
Member Function Documentation
◆ metadata()
|
static |
◆ providedPorts()
|
static |
◆ tick()
|
override |
Member Data Documentation
◆ kBottomRightCornerPortID
|
staticconstexpr |
◆ kHeightPortID
|
staticconstexpr |
◆ kStrideDistancePortID
|
staticconstexpr |
◆ kVectorOfPosesPortID
|
staticconstexpr |
◆ kWidthPortID
|
staticconstexpr |
The documentation for this class was generated from the following files:
