moveit_studio::behaviors::GetCentroidFromPointCloud Class Reference

Given an input point cloud, estimates the cloud centroid using pcl::compute3DCentroid and outputs that as a pose stamped with the same header as the point cloud. More...

#include <get_centroid_from_pointcloud.hpp>

Inheritance diagram for moveit_studio::behaviors::GetCentroidFromPointCloud:

Collaboration diagram for moveit_studio::behaviors::GetCentroidFromPointCloud:

Public Member Functions
	GetCentroidFromPointCloud (const std::string &name, const BT::NodeConfiguration &config)
BT::NodeStatus	tick () override

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

Detailed Description

Given an input point cloud, estimates the cloud centroid using pcl::compute3DCentroid and outputs that as a pose stamped with the same header as the point cloud.

This utilizes the find centroid function from PCL on the passed point cloud.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
output_pose	output	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

GetCentroidFromPointCloud()

moveit_studio::behaviors::GetCentroidFromPointCloud::GetCentroidFromPointCloud	(	const std::string &	name,
		const BT::NodeConfiguration &	config
	)

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

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

• get_centroid_from_pointcloud.hpp
• get_centroid_from_pointcloud.cpp