moveit_studio::behaviors::GetPoseFromPixelCoords Class Reference

Given an ordered point cloud and normalized pixel XY coordinates, outputs a stamped pose corresponding to a point normal to the selected coordinates. More...

#include <get_pose_from_pixel_coords.hpp>

Inheritance diagram for moveit_studio::behaviors::GetPoseFromPixelCoords:

Collaboration diagram for moveit_studio::behaviors::GetPoseFromPixelCoords:

Public Member Functions
	GetPoseFromPixelCoords (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

Given an ordered point cloud and normalized pixel XY coordinates, outputs a stamped pose corresponding to a point normal to the selected coordinates.

This assumes that the pixel XY coordinates are normalized, i.e., have values in the range [0..1] relative to the image's height and width. Additionally, the output pose always aligns the Z axis with the normal of the plane by using the smallest eigenvalue of a planar patch with radius neighbor_radius around a selected point.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
pixel_coords	input	std::vector<geometry_msgs::msg::PointStamped>
downsample_fraction	input	double
neighbor_radius	input	double
output_poses	output	std::vector<geometry_msgs::msg::PoseStamped>

Constructor & Destructor Documentation

GetPoseFromPixelCoords()

moveit_studio::behaviors::GetPoseFromPixelCoords::GetPoseFromPixelCoords	(	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::GetPoseFromPixelCoords::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::GetPoseFromPixelCoords::metadata ( )

static

providedPorts()

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

static

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

• get_pose_from_pixel_coords.hpp
• get_pose_from_pixel_coords.cpp