moveit_studio::behaviors::IsVisibilityConstraintSatisfied Class Reference

Check if the robot's current state satisfies a visibility kinematic constraint relative to an object. More...

#include <is_visibility_constraint_satisfied.hpp>

Inheritance diagram for moveit_studio::behaviors::IsVisibilityConstraintSatisfied:

Collaboration diagram for moveit_studio::behaviors::IsVisibilityConstraintSatisfied:

Public Member Functions
	IsVisibilityConstraintSatisfied (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for the IsVisibilityConstraintSatisfied behavior.
BT::NodeStatus	onStart () override
	Starts the process that evaluates the constraint.
BT::NodeStatus	onRunning () override
	Check if the async process has finished, and if so get its result.
void	onHalted () override
	Wait for the process_status_ future to be set to make sure the async process has finished when the Behavior halts.
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 ()

Static Public Attributes
static constexpr auto	kPortIDObject = "object"
static constexpr auto	kPortIDPlanningSceneMsg = "planning_scene_msg"
static constexpr auto	kPortIDCameraOpticalFrame = "camera_optical_frame"
static constexpr auto	kPortIDCameraFieldOfView = "camera_field_of_view_angle"
static constexpr auto	kPortIDSensorZOffset = "sensor_z_offset"
static constexpr auto	kPortIDTargetDiameter = "target_diameter"

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

Detailed Description

Check if the robot's current state satisfies a visibility kinematic constraint relative to an object.

Data Port Name	Port Type	Object Type
object	input	moveit_studio_vision_msgs::msg::GraspableObject
planning_scene_msg	input	moveit_msgs::msg::PlanningScene
camera_optical_frame	input	std::string
camera_field_of_view_angle	input	double
sensor_z_offset	input	double
target_diameter	input	double

Constructor & Destructor Documentation

IsVisibilityConstraintSatisfied()

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

explicit

Constructor for the IsVisibilityConstraintSatisfied behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Member Function Documentation

metadata()

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

static

onHalted()

void moveit_studio::behaviors::IsVisibilityConstraintSatisfied::onHalted ( )

override

Wait for the process_status_ future to be set to make sure the async process has finished when the Behavior halts.

onRunning()

BT::NodeStatus moveit_studio::behaviors::IsVisibilityConstraintSatisfied::onRunning ( )

override

Check if the async process has finished, and if so get its result.

Returns

BT::NodeStatus The status of the Node

onStart()

BT::NodeStatus moveit_studio::behaviors::IsVisibilityConstraintSatisfied::onStart ( )

override

Starts the process that evaluates the constraint.

Returns

BT::NodeStatus The status of the Node

providedPorts()

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

static

Returns list of ports for this behavior.

Returns

BT::PortsList The list of I/O Ports

Member Data Documentation

kPortIDCameraFieldOfView

constexpr auto moveit_studio::behaviors::IsVisibilityConstraintSatisfied::kPortIDCameraFieldOfView = "camera_field_of_view_angle"

staticconstexpr

kPortIDCameraOpticalFrame

constexpr auto moveit_studio::behaviors::IsVisibilityConstraintSatisfied::kPortIDCameraOpticalFrame = "camera_optical_frame"

staticconstexpr

kPortIDObject

constexpr auto moveit_studio::behaviors::IsVisibilityConstraintSatisfied::kPortIDObject = "object"

staticconstexpr

kPortIDPlanningSceneMsg

constexpr auto moveit_studio::behaviors::IsVisibilityConstraintSatisfied::kPortIDPlanningSceneMsg = "planning_scene_msg"

staticconstexpr

kPortIDSensorZOffset

constexpr auto moveit_studio::behaviors::IsVisibilityConstraintSatisfied::kPortIDSensorZOffset = "sensor_z_offset"

staticconstexpr

kPortIDTargetDiameter

constexpr auto moveit_studio::behaviors::IsVisibilityConstraintSatisfied::kPortIDTargetDiameter = "target_diameter"

staticconstexpr

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

• is_visibility_constraint_satisfied.hpp
• is_visibility_constraint_satisfied.cpp