moveit_studio::behaviors::GetMeshNormalPoses Class Reference

Gets the normal vectors for a given mesh and returns the normal vector poses to the caller. More...

#include <get_mesh_normal_poses.hpp>

Inheritance diagram for moveit_studio::behaviors::GetMeshNormalPoses:

Collaboration diagram for moveit_studio::behaviors::GetMeshNormalPoses:

Public Member Functions
	GetMeshNormalPoses (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
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 ()
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.
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

Gets the normal vectors for a given mesh and returns the normal vector poses to the caller.

The mesh must be associated with a specific link name in the robot model URDF.

Data Port Name	Port Type	Object Type
link_name	input	std::string
discretization_step_size	input	double
mesh_normal_poses	output	std::vector<geometry_msgs::msg::PoseStamped>

Constructor & Destructor Documentation

GetMeshNormalPoses()

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

Member Function Documentation

doWork()

tl::expected< bool, std::string > moveit_studio::behaviors::GetMeshNormalPoses::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::GetMeshNormalPoses::metadata ( )

static

providedPorts()

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

static

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

• get_mesh_normal_poses.hpp
• get_mesh_normal_poses.cpp