force_exceeds_threshold.hpp File Reference

#include <behaviortree_cpp/action_node.h>
#include <behaviortree_cpp/bt_factory.h>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <geometry_msgs/msg/wrench_stamped.hpp>
#include <moveit_studio_behavior_interface/behavior_context.hpp>
#include <moveit_studio_behavior_interface/shared_resources_node.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

Include dependency graph for force_exceeds_threshold.hpp:

This graph shows which files directly or indirectly include this file:

Classes
class	moveit_studio::behaviors::ForceExceedsThreshold
	Monitors wrench messages published to topic, and returns SUCCESS if the magnitude of the wrench measurements exceeds a force threshold for a minimum number of consecutive readings. More...

Namespaces
namespace	moveit_studio
namespace	moveit_studio::behaviors
namespace	moveit_studio::behaviors::wrench_measurement

Functions
bool	moveit_studio::behaviors::wrench_measurement::forceIsOutsideBounds (const geometry_msgs::msg::Wrench &measured, const double force_threshold)
	Evaluate if any force in measured wrench are outside the specified force threshold.