cl_move_group_interface::CbAttachObject Class Reference

#include <cb_attach_object.hpp>

Inheritance diagram for cl_move_group_interface::CbAttachObject:

Collaboration diagram for cl_move_group_interface::CbAttachObject:

Public Member Functions
	CbAttachObject (std::string targetObjectName)
	CbAttachObject ()
virtual void	onEntry () override
virtual void	onExit () override
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)
void	requestForceFinish ()
void	executeOnEntry () override
void	executeOnExit () override
void	waitOnEntryThread (bool requestFinish)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	onSuccess (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFinished (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFailure (TCallbackMethod callback, T *object)
Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, bool throwExceptionIfNotExist=false)
virtual void	onEntry ()
virtual void	onExit ()
virtual void	executeOnEntry ()
virtual void	executeOnExit ()

Public Attributes
std::string	targetObjectName_

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode () const
virtual rclcpp::Logger	getLogger () const

Detailed Description

Definition at line 28 of file cb_attach_object.hpp.

Constructor & Destructor Documentation

CbAttachObject() [1/2]

cl_move_group_interface::CbAttachObject::CbAttachObject

(

std::string

targetObjectName

)

Definition at line 26 of file cb_attach_object.cpp.

                                                         : targetObjectName_(targetObjectName)
{
}

CbAttachObject() [2/2]

cl_move_group_interface::CbAttachObject::CbAttachObject

(

)

Definition at line 30 of file cb_attach_object.cpp.

{}

Member Function Documentation

onEntry()

void cl_move_group_interface::CbAttachObject::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 32 of file cb_attach_object.cpp.

{
  cl_move_group_interface::ClMoveGroup * moveGroup;
  this->requiresClient(moveGroup);
 
  cl_move_group_interface::CpGraspingComponent * graspingComponent;
  this->requiresComponent(graspingComponent);
 
  // auto cubepos = cubeinfo->pose_->toPoseStampedMsg();
 
  moveit_msgs::msg::CollisionObject targetCollisionObject;
 
  bool found = graspingComponent->getGraspingObject(targetObjectName_, targetCollisionObject);
 
  if (found)
  {
    targetCollisionObject.operation = moveit_msgs::msg::CollisionObject::ADD;
    targetCollisionObject.header.stamp = getNode()->now();
 
    moveGroup->planningSceneInterface->applyCollisionObject(targetCollisionObject);
    // collisionObjects.push_back(cubeCollision);
 
    graspingComponent->currentAttachedObjectName = targetObjectName_;
    moveGroup->moveGroupClientInterface->attachObject(
      targetObjectName_, graspingComponent->gripperLink_, graspingComponent->fingerTipNames);
 
    RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Grasping objectfound. attach request.");
 
    this->postSuccessEvent();
  }
  else
  {
    RCLCPP_WARN_STREAM(
      getLogger(), "[" << getName() << "] Grasping object was not found. Ignoring attach request.");
 
    this->postFailureEvent();
  }
}

References cl_move_group_interface::CpGraspingComponent::currentAttachedObjectName, cl_move_group_interface::CpGraspingComponent::fingerTipNames, cl_move_group_interface::CpGraspingComponent::getGraspingObject(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), cl_move_group_interface::CpGraspingComponent::gripperLink_, cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, cl_move_group_interface::ClMoveGroup::planningSceneInterface, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::ISmaccClientBehavior::requiresClient(), smacc2::ISmaccClientBehavior::requiresComponent(), and targetObjectName_.

Here is the call graph for this function:

onExit()

void cl_move_group_interface::CbAttachObject::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 71 of file cb_attach_object.cpp.

{}

Member Data Documentation

targetObjectName_

std::string cl_move_group_interface::CbAttachObject::targetObjectName_

Definition at line 39 of file cb_attach_object.hpp.

Referenced by onEntry().

---

The documentation for this class was generated from the following files:

• smacc2_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_attach_object.hpp
• smacc2_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_attach_object.cpp