cl_move_group_interface::CbExecuteLastTrajectory Class Reference

#include <cb_execute_last_trajectory.hpp>

Inheritance diagram for cl_move_group_interface::CbExecuteLastTrajectory:

Collaboration diagram for cl_move_group_interface::CbExecuteLastTrajectory:

Public Member Functions
	CbExecuteLastTrajectory ()
virtual	~CbExecuteLastTrajectory ()
virtual void	generateTrajectory ()
virtual void	onEntry () override
Public Member Functions inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
	CbMoveEndEffectorTrajectory (std::optional< std::string > tipLink=std::nullopt)
	CbMoveEndEffectorTrajectory (const std::vector< geometry_msgs::msg::PoseStamped > &endEffectorTrajectory, std::optional< std::string > tipLink=std::nullopt)
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual void	onEntry () override
virtual void	onExit () override
virtual void	update () 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 Member Functions inherited from smacc2::ISmaccUpdatable
	ISmaccUpdatable ()
	ISmaccUpdatable (rclcpp::Duration duration)
void	executeUpdate (rclcpp::Node::SharedPtr node)
void	setUpdatePeriod (rclcpp::Duration duration)

Additional Inherited Members
Public Attributes inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
std::optional< std::string >	group_
std::optional< std::string >	tipLink_
std::optional< bool >	allowInitialTrajectoryStateJointDiscontinuity_
Protected Member Functions inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
ComputeJointTrajectoryErrorCode	computeJointSpaceTrajectory (moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)
void	executeJointSpaceTrajectory (const moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)
virtual void	generateTrajectory ()=0
virtual void	createMarkers ()
void	getCurrentEndEffectorPose (std::string globalFrame, tf2::Stamped< tf2::Transform > &currentEndEffectorTransform)
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
virtual void	update ()=0
Protected Attributes inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
std::vector< geometry_msgs::msg::PoseStamped >	endEffectorTrajectory_
ClMoveGroup *	movegroupClient_ = nullptr
visualization_msgs::msg::MarkerArray	beahiorMarkers_

Detailed Description

Definition at line 27 of file cb_execute_last_trajectory.hpp.

Constructor & Destructor Documentation

CbExecuteLastTrajectory()

cl_move_group_interface::CbExecuteLastTrajectory::CbExecuteLastTrajectory

(

)

Definition at line 26 of file cb_execute_last_trajectory.cpp.

{}

~CbExecuteLastTrajectory()

cl_move_group_interface::CbExecuteLastTrajectory::~CbExecuteLastTrajectory ( )

virtual

Definition at line 28 of file cb_execute_last_trajectory.cpp.

{}

Member Function Documentation

generateTrajectory()

void cl_move_group_interface::CbExecuteLastTrajectory::generateTrajectory ( )

virtual

Implements cl_move_group_interface::CbMoveEndEffectorTrajectory.

Definition at line 30 of file cb_execute_last_trajectory.cpp.

{}

onEntry()

void cl_move_group_interface::CbExecuteLastTrajectory::onEntry ( )

overridevirtual

Reimplemented from cl_move_group_interface::CbMoveEndEffectorTrajectory.

Definition at line 32 of file cb_execute_last_trajectory.cpp.

{
  this->requiresClient(movegroupClient_);
 
  CpTrajectoryHistory * trajectoryHistory;
  this->requiresComponent(trajectoryHistory);
 
  // this->generateTrajectory();
  // endEffectorTrajectory_ =
 
  // if (this->endEffectorTrajectory_.size() == 0)
  // {
  //     RCLCPP_WARN_STREAM(getLogger(), "[" << smacc2::demangleSymbol(typeid(*this).name()) << "] No points in the trajectory. Skipping behavior.");
  //     return;
  // }
 
  //this->createMarkers();
  //markersInitialized_ = true;
 
  moveit_msgs::msg::RobotTrajectory trajectory;
 
  if (trajectoryHistory->getLastTrajectory(trajectory))
  {
    this->executeJointSpaceTrajectory(trajectory);
  }
}

References cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_move_group_interface::CpTrajectoryHistory::getLastTrajectory(), cl_move_group_interface::CbMoveEndEffectorTrajectory::movegroupClient_, smacc2::ISmaccClientBehavior::requiresClient(), and smacc2::ISmaccClientBehavior::requiresComponent().

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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_execute_last_trajectory.hpp
• smacc2_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_execute_last_trajectory.cpp