moveit_studio::behaviors::GetMoveAlongArcSubframes Class Reference

Given a PoseStamped for a grasp pose, and a vector of two PoseStampeds for the axis of the arc, calculates the subframes needed for motion along an arc. The arc radius is the distance between the grasp point and the arc (hinge) axis. More...

#include <get_move_along_arc_subframes.hpp>

Inheritance diagram for moveit_studio::behaviors::GetMoveAlongArcSubframes:

Collaboration diagram for moveit_studio::behaviors::GetMoveAlongArcSubframes:

Public Member Functions
	GetMoveAlongArcSubframes (const std::string &name, const BT::NodeConfiguration &config)
BT::NodeStatus	tick () override
	Override of tick() function. Retrieves poses from input ports, uses calculateMoveAlongArcSubframes() to potentially reorder the poses, and then sets the output ports to the result. More...

Static Public Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Detailed Description

Given a PoseStamped for a grasp pose, and a vector of two PoseStampeds for the axis of the arc, calculates the subframes needed for motion along an arc. The arc radius is the distance between the grasp point and the arc (hinge) axis.

See the calculateMoveAlongArcSubframes function documentation for an explanation of the transform math used here.

Data Port Name	Port Type	Object Type
target_grasp_pose	Input	geometry_msgs::msg::PoseStamped
hinge_axis_poses	Input	std::vector<geometry_msgs::msg::PoseStamped>
move_along_arc_subframes	Output	std::vector<moveit_studio_vision_msgs::msg::ObjectSubframe>

Constructor & Destructor Documentation

GetMoveAlongArcSubframes()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Override of tick() function. Retrieves poses from input ports, uses calculateMoveAlongArcSubframes() to potentially reorder the poses, and then sets the output ports to the result.

Returns

FAILURE if calculateMoveAlongArcSubframes returns false. SUCCESS if the calculation of the door hinge poses succeeds and output ports are set.

---

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

• get_move_along_arc_subframes.hpp
• get_move_along_arc_subframes.cpp