moveit_studio::behaviors::GetGraspAndTwistSubframes Class Reference

Given an input PoseStamped representing a grasp pose selected on an object, get the three Subframes that define a Grasp Screw Motion (grab and twist about an axis) where the object is grabbed and rotated by grasp_rotation_z_radians amount. More...

#include <get_grasp_and_twist_subframes.hpp>

Inheritance diagram for moveit_studio::behaviors::GetGraspAndTwistSubframes:

Collaboration diagram for moveit_studio::behaviors::GetGraspAndTwistSubframes:

Public Member Functions
	GetGraspAndTwistSubframes (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 PoseStamped representing a grasp pose selected on an object, get the three Subframes that define a Grasp Screw Motion (grab and twist about an axis) where the object is grabbed and rotated by grasp_rotation_z_radians amount.

Assumes that the Z- axis of the grasp pose matches the normal vector of the front face of the object.

Data Port Name	Port Type	Object Type
target_grasp_pose	Input	geometry_msgs::msg::PoseStamped
grasp_rotation_z_radians	Input	double
grasp_and_twist_subframes	Output	std::vector<moveit_studio_vision_msgs::msg::ObjectSubframe>

Constructor & Destructor Documentation

GetGraspAndTwistSubframes()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

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

• get_grasp_and_twist_subframes.hpp
• get_grasp_and_twist_subframes.cpp