Transforms an input stamped pose with the transform specified by another stamped pose. More...

#include <transform_pose_with_pose.hpp>

Inheritance diagram for moveit_studio::behaviors::TransformPoseWithPose:

Collaboration diagram for moveit_studio::behaviors::TransformPoseWithPose:

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

BT::NodeStatus	tick () override

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 an input stamped pose with the transform specified by another stamped pose.

The frame IDs of the input point cloud and transform pose must match, or this Behavior will fail. The output point cloud will similarly be with respect to this frame. Its pose matrix results from pre-mulitplying the transform pose matrix to the input pose matrix.

Data Port Name	Port Type	Object Type
input_pose	input	geometry_msgs::msg::PoseStamped
transform_pose	input	geometry_msgs::msg::PoseStamped
output_pose	output	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

◆ TransformPoseWithPose()

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

Constructor for TransformPoseFrame 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::TransformPoseWithPose::metadata ( )

static

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::TransformPoseWithPose::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::TransformPoseWithPose::tick ( )

override

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

Public Member Functions

Static Public Member Functions