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MoveIt Pro API
Core Behaviors for MoveIt Pro
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Extracts contours from a point cloud slice. More...
#include <get_contour_from_pointcloud_slice.hpp>
Public Member Functions | |
GetContourFromPointCloudSlice (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
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AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
virtual | ~AsyncBehaviorBase ()=default |
BT::NodeStatus | onStart () override |
Required implementation of BT::StatefulActionNode::onStart(). | |
BT::NodeStatus | onRunning () override |
Required implementation of BT::StatefulActionNode::onRunning(). | |
void | onHalted () override |
Required implementation of BT::StatefulActionNode::onHalted(). | |
void | resetStatus () |
Resets the internal status of this node. | |
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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 () |
Protected Member Functions | |
tl::expected< bool, std::string > | doWork () override |
User-implemented function which handles executing the potentially-long-running process. | |
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virtual tl::expected< void, std::string > | doHalt () |
Optionally implement additional work needed to cleanly interrupt the async process. | |
void | notifyCanHalt () |
Called when runAsync() finishes to notify onHalted() that the async process has finished. | |
Additional Inherited Members | |
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std::shared_ptr< BehaviorContext > | shared_resources_ |
Extracts contours from a point cloud slice.
This behavior takes a point cloud and extracts 2D contours from a specified slice of the cloud. The slice is defined by a plane normal and distance from origin.
Data Port Name | Port Type | Object Type |
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input_cloud | input | sensor_msgs::msg::PointCloud2 |
slice_normal | input | geometry_msgs::msg::Vector3 |
slice_distance | input | double |
slice_thickness | input | double |
concave_hull_alpha | input | double |
desired_pose_spacing | input | double |
contour_points | output | std::vector<geometry_msgs::msg::Point> |
moveit_studio::behaviors::GetContourFromPointCloudSlice::GetContourFromPointCloudSlice | ( | const std::string & | name, |
const BT::NodeConfiguration & | config, | ||
const std::shared_ptr< BehaviorContext > & | shared_resources | ||
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overrideprotectedvirtual |
User-implemented function which handles executing the potentially-long-running process.
This function is called within an async process in a separate thread.
Implements moveit_studio::behaviors::AsyncBehaviorBase.
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