compute_velocity_to_align_with_target.cpp File Reference

#include "moveit_studio_behavior/behaviors/core/compute_velocity_to_align_with_target.hpp"
#include "tf2_eigen/tf2_eigen.hpp"
#include "cartesian_planning/math.hpp"
#include "moveit_studio_behavior_interface/get_required_ports.hpp"
#include "moveit_studio_behavior_interface/metadata_fields.hpp"

Include dependency graph for compute_velocity_to_align_with_target.cpp:

Namespaces
namespace	moveit_studio
namespace	moveit_studio::behaviors
namespace	moveit_studio::behaviors::compute_velocity_to_align_with_target
namespace	moveit_studio::behaviors::compute_velocity_to_align_with_target::internal

Functions
nav_msgs::msg::Odometry	moveit_studio::behaviors::compute_velocity_to_align_with_target::internal::offsetPoseAndTwist (const nav_msgs::msg::Odometry &target_motion_state, const geometry_msgs::msg::PoseStamped &target_pose_offset)
	Calculate the offset target motion_state based on the target motion_state and target pose offset.
tl::expected< geometry_msgs::msg::PoseStamped, std::string >	moveit_studio::behaviors::compute_velocity_to_align_with_target::internal::calculatePoseError (const nav_msgs::msg::Odometry &target_motion_state, tf2_ros::Buffer &tf_buffer, const std::string &end_effector_frame)
	Calculate the pose error between the target motion_state and the current end effector frame.
geometry_msgs::msg::TwistStamped	moveit_studio::behaviors::compute_velocity_to_align_with_target::internal::calculateControlVelocity (const geometry_msgs::msg::PoseStamped &pose_error, double proportional_gain_linear, double proportional_gain_angular)
	Calculate the proportional control velocity based on the pose error.
tl::expected< geometry_msgs::msg::TwistStamped, std::string >	moveit_studio::behaviors::compute_velocity_to_align_with_target::internal::addTargetAndCatchupVelocity (const nav_msgs::msg::Odometry &target_motion_state, const tf2_ros::Buffer &tf_buffer, const std::string &end_effector_frame, const geometry_msgs::msg::TwistStamped &catchup_velocity)
	Add the target and catchup velocities in the end effector frame.

Variables
constexpr auto	moveit_studio::behaviors::kPortIdTargetMotionState = "target_motion_state"
constexpr auto	moveit_studio::behaviors::kPortIdTargetPoseOffset = "target_pose_offset"
constexpr auto	moveit_studio::behaviors::kPortIdEndEffectorFrame = "end_effector_frame"
constexpr auto	moveit_studio::behaviors::kPortIdProportionalGainLinear = "proportional_gain_linear"
constexpr auto	moveit_studio::behaviors::kPortIdProportionalGainAngular = "proportional_gain_angular"
constexpr auto	moveit_studio::behaviors::kPortIdOutputControlVelocity = "output_control_velocity"
constexpr auto	moveit_studio::behaviors::kPortIdOutputErrorPose = "output_pose_error"