MoveIt Pro Behavior
Core Behaviors for MoveIt Pro
moveit_studio Namespace Reference

Namespaces

 behavior
 
 behaviors
 
 helper_functions
 
 test_utils
 

Functions

std::optional< ObjectSubframe > findSubframeInVector (const std::vector< ObjectSubframe > subframes, std::string_view target_subframe_id)
 Helper function to return a subframe corresponding to an input subframe ID. More...
 
std::optional< ObjectSubframe > findSubframeInObject (const GraspableObject &obj, std::string_view target_subframe_id)
 Helper function to return a subframe corresponding to an input subframe ID in a GraspableObject if it is found. More...
 
std::optional< Pose > findSubframePoseInObject (const GraspableObject &obj, std::string_view target_subframe_id)
 Helper function to return a subframe pose corresponding to an input subframe ID in a GraspableObject if it is found. More...
 
std::optional< std::size_t > findSubframeIndexInObject (const GraspableObject &obj, std::string_view target_subframe_id)
 Helper function to return a subframe pose corresponding to an input subframe ID in a GraspableObject if it is found. More...
 

Function Documentation

◆ findSubframeIndexInObject()

std::optional<std::size_t> moveit_studio::findSubframeIndexInObject ( const GraspableObject &  obj,
std::string_view  target_subframe_id 
)
inline

Helper function to return a subframe pose corresponding to an input subframe ID in a GraspableObject if it is found.

Parameters
objGraspableObject to check subframes for.
target_subframe_idString id of subframe pose to find.
Returns
Index of subframe.

◆ findSubframeInObject()

std::optional<ObjectSubframe> moveit_studio::findSubframeInObject ( const GraspableObject &  obj,
std::string_view  target_subframe_id 
)
inline

Helper function to return a subframe corresponding to an input subframe ID in a GraspableObject if it is found.

Parameters
objGraspableObject to check subframes for.
target_subframe_idString id of subframe pose to find.
Returns
subframe ObjectSubframe retrieved, or nullopt if not found.

◆ findSubframeInVector()

std::optional<ObjectSubframe> moveit_studio::findSubframeInVector ( const std::vector< ObjectSubframe >  subframes,
std::string_view  target_subframe_id 
)
inline

Helper function to return a subframe corresponding to an input subframe ID.

Parameters
subframesVector of ObjectSubframes to search through.
target_subframe_idString id of subframe pose to find.
Returns
Pose of subframe.

◆ findSubframePoseInObject()

std::optional<Pose> moveit_studio::findSubframePoseInObject ( const GraspableObject &  obj,
std::string_view  target_subframe_id 
)
inline

Helper function to return a subframe pose corresponding to an input subframe ID in a GraspableObject if it is found.

Parameters
objGraspableObject to check subframes for.
target_subframe_idString id of subframe pose to find.
Returns
Pose of subframe.