Gets the stamped pose of an object detection given a label or ID, if one exists. More...

#include <get_detection_pose.hpp>

Inheritance diagram for moveit_studio::behaviors::GetDetectionPose:

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Collaboration diagram for moveit_studio::behaviors::GetDetectionPose:

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Public Member Functions
	GetDetectionPose (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::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 ()

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

Detailed Description

Gets the stamped pose of an object detection given a label or ID, if one exists.

The target_id and target_label ports define the match criteria for the detection. A target_id of -1 denotes any ID is allowed. Similarly, a target_label that is an empty string denotes any label is allowed.

If multiple detections that match the criteria exist in the list, return the first one.

Data Port Name	Port Type	Object Type
detections	input	moveit_studio_vision_msgs::msg::ObjectDetectionArray
target_id	input	int
target_label	input	std::string
detection_pose	output	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

◆ GetDetectionPose()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions