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>

Include dependency graph for get_move_along_arc_subframes.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
	moveit_studio
	moveit_studio::behaviors
	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. More...