moveit_studio::behaviors::GetDoorHandlePose Class Reference

This class represents a behavior that can calculate the pose of a door lever handle along with its depth and length. The convention is that the Z-axis of the pose represents the axis of rotation of the handle. The X-axis points along the handle and points toward the door hinge. More...

#include <get_door_handle.hpp>

Inheritance diagram for moveit_studio::behaviors::GetDoorHandlePose:

Collaboration diagram for moveit_studio::behaviors::GetDoorHandlePose:

Public Member Functions
	GetDoorHandlePose (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	onStart () override
BT::NodeStatus	onRunning () override
	method invoked by an action in the RUNNING state.
void	onHalted () override
Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	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::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

This class represents a behavior that can calculate the pose of a door lever handle along with its depth and length. The convention is that the Z-axis of the pose represents the axis of rotation of the handle. The X-axis points along the handle and points toward the door hinge.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
handle_poses	input	std::vector<geometry_msgs::msg::PoseStamped>
minimum_door_handle_depth	input	double
target_output_frame_id	input	std::string
target_handle_pose	output	geometry_msgs::msg::PoseStamped
target_handle_z_offset	output	double
target_handle_length	output	double

Constructor & Destructor Documentation

GetDoorHandlePose()

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

Member Function Documentation

metadata()

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

static

onHalted()

void moveit_studio::behaviors::GetDoorHandlePose::onHalted ( )

override

onRunning()

BT::NodeStatus moveit_studio::behaviors::GetDoorHandlePose::onRunning ( )

override

method invoked by an action in the RUNNING state.

onStart()

BT::NodeStatus moveit_studio::behaviors::GetDoorHandlePose::onStart ( )

override

providedPorts()

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

static

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

• get_door_handle.hpp
• get_door_handle.cpp