Requests a set of named points from the user by switching the view and displaying a sequence of prompts in the UI. More...

#include <get_points_from_user.hpp>

Inheritance diagram for moveit_studio::behaviors::GetPointsFromUser:

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Collaboration diagram for moveit_studio::behaviors::GetPointsFromUser:

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Public Member Functions
	GetPointsFromUser (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Construct a new GetPointsFromUser object.

	GetPointsFromUser (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< RequestPointsFromUser > > client_interface)
	Alternate constructor which can use an existing ClientInterfaceBase to support testing with a mock service client interface.

Public Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< RequestPointsFromUser >
	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructs ServiceClientBehaviorBase using the RclcppClientInterface.

	ServiceClientBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< ClientInterfaceBase< RequestPointsFromUser > > client_interface)
	Constructs ServiceClientBehaviorBase using a user-provided implementation of ClientInterfaceBase.

virtual	~ServiceClientBehaviorBase ()=default

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 ()
	Returns list of ports for this Behavior.

static BT::KeyValueVector	metadata ()
	Returns metadata for this Behavior.

Additional Inherited Members
Static Public Attributes inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< RequestPointsFromUser >
static constexpr std::chrono::seconds	kTimeoutWaitForServiceServer

Protected Member Functions inherited from moveit_studio::behaviors::ServiceClientBehaviorBase< RequestPointsFromUser >
virtual tl::expected< std::chrono::duration< double >, std::string >	getResponseTimeout ()
	Optional user-provided function to set the timeout used when waiting for the service response.

virtual tl::expected< bool, std::string >	processResponse (const typename ServiceT::Response &)
	Optional user-provided function to process the service response after the service has finished.

Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

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

Detailed Description

Requests a set of named points from the user by switching the view and displaying a sequence of prompts in the UI.

The list of point prompts can either contain a single element, meaning the same prompt is displayed for each requested point, or it can be the same size as the list of point names, meaning a different prompt is displayed for each point. The output is a list of stamped points, whose X and Y coordinates are normalized pixel coordinates in the range [0..1]. The requested name of each point is contained in the frame ID of its header.

Data Port Name	Port Type	Object Type
view_name	Input	std::string
point_names	Input	std::vector<std::string>
point_prompts	Input	std::vector<std::string>
pixel_coords	Output	std::vector<geometry_msgs::msg::PointStamped>

Constructor & Destructor Documentation

◆ GetPointsFromUser() [1/2]

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

explicit

Construct a new GetPointsFromUser object.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

◆ GetPointsFromUser() [2/2]

moveit_studio::behaviors::GetPointsFromUser::GetPointsFromUser	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< ClientInterfaceBase< RequestPointsFromUser > >	client_interface
	)

explicit

Alternate constructor which can use an existing ClientInterfaceBase to support testing with a mock service client interface.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode
client_interface	unique_ptr to an instance of a class derived from ClientInterfaceBase. The Behavior will take ownership of the unique_ptr in this constructor.

Member Function Documentation

◆ metadata()

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

static

Returns metadata for this Behavior.

Returns: BT::KeyValueVector The Behavior metadata.

◆ providedPorts()

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

static

Returns list of ports for this Behavior.

Returns: BT::PortsList The list of I/O Ports

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

Public Member Functions

Static Public Member Functions