Transforms a stamped pose given an input yaml file that contains the translation and orientation that should be applied to the input. NOTE: The pose_parameters port is normally provided by a LoadObjectiveParameter Behavior. More...

#include <transform_pose_from_yaml.hpp>

Inheritance diagram for moveit_studio::behaviors::TransformPoseFromYaml:

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Collaboration diagram for moveit_studio::behaviors::TransformPoseFromYaml:

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Public Member Functions
	TransformPoseFromYaml (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for TransformPoseFromYaml behavior. More...

BT::NodeStatus	tick () override
	Contains the logic to transform a geometry_msgs::msg::PoseStamped message. More...

Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
	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. More...

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Custom tree nodes that have input and/or output ports must define them in this static function. More...

static BT::KeyValueVector	metadata ()

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

Detailed Description

Transforms a stamped pose given an input yaml file that contains the translation and orientation that should be applied to the input. NOTE: The pose_parameters port is normally provided by a LoadObjectiveParameter Behavior.

The transformation occurs in the reference frame specified by the pose stamp. For example, if the input pose is expressed in the "world" frame, the translation and orientation are also applied relative to the specified pose and the result will be returned in the "world" frame to produce the output pose.

Data Port Name	Port Type	Object Type
input_pose	input	geometry_msgs::msg::PoseStamped
parameter_namespace	input	std::string
pose_parameters	input	YAML::Node
output_pose	output	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

◆ TransformPoseFromYaml()

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

Constructor for TransformPoseFromYaml behavior.

Parameters

name	Name of the node. Must match the name used for this node in the behavior tree definition file (the .xml file).
config	Node configuration. Only used here because the BehaviorTree.CPP expects constructor signature with name and config first before custom constructor parameters.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_studio::behaviors::SharedResourcesNode.

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

Custom tree nodes that have input and/or output ports must define them in this static function.

This function must be static. It is a requirement set by the BehaviorTree.CPP library.

Returns: List of ports with the names and port info. The return value is for the internal use of the behavior tree.

◆ tick()

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

override

Contains the logic to transform a geometry_msgs::msg::PoseStamped message.

Returns: BT::NodeStatus Returns success if successful, else failure.

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

Public Member Functions

Static Public Member Functions