moveit_studio::behaviors::GenerateCuboidGraspPoses Class Reference

Given a target GraspableObject and planning details about the arm, generate grasp poses. More...

#include <generate_cuboid_grasp_poses.hpp>

Inheritance diagram for moveit_studio::behaviors::GenerateCuboidGraspPoses:

Collaboration diagram for moveit_studio::behaviors::GenerateCuboidGraspPoses:

Public Member Functions
	GenerateCuboidGraspPoses (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.

Static Public Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kPortIDTargetObject = "target_object"
static constexpr auto	kPortIDEndEffectorGroupName = "end_effector_group_name"
static constexpr auto	kPortIDGenerateXAxisGrasps = "generate_x_axis_grasps"
static constexpr auto	kPortIDGenerateYAxisGrasps = "generate_y_axis_grasps"
static constexpr auto	kPortIDGenerateZAxisGrasps = "generate_z_axis_grasps"
static constexpr auto	kPortIDSamplesPerQuadrant = "samples_per_quadrant"
static constexpr auto	kPortIDMaxGraspWidth = "max_grasp_width"
static constexpr auto	kPortIDEEToTCPTransform = "ee_to_tcp_tf"
static constexpr auto	kPortIDGraspPoses = "grasp_poses"

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

Detailed Description

Given a target GraspableObject and planning details about the arm, generate grasp poses.

Data Port Name	Port Type	Object Type	Description
target_object	Input	moveit_studio_vision_msgs::msg::GraspableObject	Cuboid object to grasp, represented as a moveit_studio_vision_msgs/GraspableObject.
end_effector_group_name	Input	std::string	Name of the end effector group.
generate_x_axis_grasps	Input	bool	If true, grasp samples will be generated along the X axis of the target object.
generate_y_axis_grasps	Input	bool	If true, grasp samples will be generated along the Y axis of the target object.
generate_z_axis_grasps	Input	bool	If true, grasp samples will be generated along the Z axis of the target object.
samples_per_quadrant	Input	int	Number of samples to generate for each quadrant of the cuboid.
max_grasp_width	Input	double	Maximum allowed finger width from a grasp.
ee_to_tcp_transform	Input	geometry_msgs::msg::PoseStamped	Transform from the end effector to the tool center point provided as a PoseStamped msg.
grasp_poses	Output	std::vector<geometry_msgs::msg::PoseStamped>	Generated grasp poses.

Constructor & Destructor Documentation

GenerateCuboidGraspPoses()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

BT::NodeStatus moveit_studio::behaviors::GenerateCuboidGraspPoses::tick ( )

override

Member Data Documentation

kPortIDEEToTCPTransform

constexpr auto moveit_studio::behaviors::GenerateCuboidGraspPoses::kPortIDEEToTCPTransform = "ee_to_tcp_tf"

staticconstexpr

kPortIDEndEffectorGroupName

constexpr auto moveit_studio::behaviors::GenerateCuboidGraspPoses::kPortIDEndEffectorGroupName = "end_effector_group_name"

staticconstexpr

kPortIDGenerateXAxisGrasps

constexpr auto moveit_studio::behaviors::GenerateCuboidGraspPoses::kPortIDGenerateXAxisGrasps = "generate_x_axis_grasps"

staticconstexpr

kPortIDGenerateYAxisGrasps

constexpr auto moveit_studio::behaviors::GenerateCuboidGraspPoses::kPortIDGenerateYAxisGrasps = "generate_y_axis_grasps"

staticconstexpr

kPortIDGenerateZAxisGrasps

constexpr auto moveit_studio::behaviors::GenerateCuboidGraspPoses::kPortIDGenerateZAxisGrasps = "generate_z_axis_grasps"

staticconstexpr

kPortIDGraspPoses

constexpr auto moveit_studio::behaviors::GenerateCuboidGraspPoses::kPortIDGraspPoses = "grasp_poses"

staticconstexpr

kPortIDMaxGraspWidth

constexpr auto moveit_studio::behaviors::GenerateCuboidGraspPoses::kPortIDMaxGraspWidth = "max_grasp_width"

staticconstexpr

kPortIDSamplesPerQuadrant

constexpr auto moveit_studio::behaviors::GenerateCuboidGraspPoses::kPortIDSamplesPerQuadrant = "samples_per_quadrant"

staticconstexpr

kPortIDTargetObject

constexpr auto moveit_studio::behaviors::GenerateCuboidGraspPoses::kPortIDTargetObject = "target_object"

staticconstexpr

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

• generate_cuboid_grasp_poses.hpp
• generate_cuboid_grasp_poses.cpp