Infer grasp pose from point cloud of an object. More...

#include <l2g_grasping.hpp>

Inheritance diagram for moveit_studio::behaviors::GetGraspPoseFromPointCloud:

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Collaboration diagram for moveit_studio::behaviors::GetGraspPoseFromPointCloud:

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Classes
struct	InferenceHandle
	Allows different models to be used with behavior. More...

struct	L2GHandle
	Uses L2G for grasp inference. More...

Public Member Functions
	GetGraspPoseFromPointCloud (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources, std::unique_ptr< InferenceHandle > model=std::make_unique< L2GHandle >())
	Constructs the behavior for inferring grasps from point clouds.

	~GetGraspPoseFromPointCloud () final

Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
	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.

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 ()
	Implementation of the required providedPorts() function for the Behavior.

static BT::KeyValueVector	metadata ()
	Implementation of the metadata() function for displaying metadata, such as Behavior description and subcategory, in the MoveIt Studio Developer Tool.

Protected Member Functions
tl::expected< bool, std::string >	doWork () override
	User-implemented function which handles executing the potentially-long-running process.

Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
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
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Infer grasp pose from point cloud of an object.

Constructor & Destructor Documentation

◆ GetGraspPoseFromPointCloud()

moveit_studio::behaviors::GetGraspPoseFromPointCloud::GetGraspPoseFromPointCloud	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &	shared_resources,
		std::unique_ptr< InferenceHandle >	model = `std::make_unique<L2GHandle>()`
	)

Constructs the behavior for inferring grasps from point clouds.

Parameters

name	of a particular instance of this Behavior. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
config	for this Behavior, such as the mapping between the Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
model	that does the grasp inference.

An important limitation is that the members of the base Behavior class are not instantiated until after the initialize() function is called, so these classes should not be used within the constructor.

◆ ~GetGraspPoseFromPointCloud()

moveit_studio::behaviors::GetGraspPoseFromPointCloud::~GetGraspPoseFromPointCloud ( )

final

Ensures the model finishes gracefully

Member Function Documentation

◆ doWork()

tl::expected< bool, std::string > moveit_studio::behaviors::GetGraspPoseFromPointCloud::doWork ( )

overrideprotectedvirtual

User-implemented function which handles executing the potentially-long-running process.

This function is called within an async process in a separate thread.

Returns: A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.

Implements moveit_studio::behaviors::AsyncBehaviorBase.

◆ metadata()

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

static

Implementation of the metadata() function for displaying metadata, such as Behavior description and subcategory, in the MoveIt Studio Developer Tool.

Returns: A BT::KeyValueVector containing the Behavior metadata.

◆ providedPorts()

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

static

Implementation of the required providedPorts() function for the Behavior.

The BehaviorTree.CPP library requires that Behaviors must implement a static function named providedPorts() which defines their input and output ports. If the Behavior does not use any ports, this function must return an empty BT::PortsList. This function returns a list of ports with their names and port info, which is used internally by the behavior tree.

Returns: List of ports for the behavior.

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

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members