get_move_along_arc_subframes.hpp File Reference

#include <behaviortree_cpp/action_node.h>
#include <behaviortree_cpp/bt_factory.h>
#include <moveit_studio_behavior/utils/affordance_transforms.hpp>
#include <moveit_studio_behavior_interface/behavior_context.hpp>
#include <moveit_studio_vision_msgs/msg/object_subframe.hpp>

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Classes
class	moveit_studio::behaviors::GetMoveAlongArcSubframes
	Given a PoseStamped for a grasp pose, and a vector of two PoseStampeds for the axis of the arc, calculates the subframes needed for motion along an arc. The arc radius is the distance between the grasp point and the arc (hinge) axis. More...

Namespaces
namespace	moveit_studio
namespace	moveit_studio::behaviors
namespace	moveit_studio::behaviors::affordance_transforms

Functions
std::optional< std::vector< moveit_studio_vision_msgs::msg::ObjectSubframe > >	moveit_studio::behaviors::affordance_transforms::calculateMoveAlongArcSubframes (const geometry_msgs::msg::PoseStamped &pose_grasp, const geometry_msgs::msg::PoseStamped &pose_axis_first, const geometry_msgs::msg::PoseStamped &pose_axis_second)
	Reorder user-selected poses into the subframes in the order expected by affordance template behaviors.