SMACC2
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Public Member Functions | List of all members
cl_move_group_interface::CbExecuteLastTrajectory Class Reference

#include <cb_execute_last_trajectory.hpp>

Inheritance diagram for cl_move_group_interface::CbExecuteLastTrajectory:
Inheritance graph
Collaboration diagram for cl_move_group_interface::CbExecuteLastTrajectory:
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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 ()
 
ISmaccStateMachinegetStateMachine ()
 
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< boolallowInitialTrajectoryStateJointDiscontinuity_
 
- 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 ()
 
ISmaccStategetCurrentState ()
 
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_
 
ClMoveGroupmovegroupClient_ = 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.

26{}

◆ ~CbExecuteLastTrajectory()

cl_move_group_interface::CbExecuteLastTrajectory::~CbExecuteLastTrajectory ( )
virtual

Definition at line 28 of file cb_execute_last_trajectory.cpp.

28{}

Member Function Documentation

◆ generateTrajectory()

void cl_move_group_interface::CbExecuteLastTrajectory::generateTrajectory ( )
virtual

◆ 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.

33{
35
36 CpTrajectoryHistory * trajectoryHistory;
37 this->requiresComponent(trajectoryHistory);
38
39 // this->generateTrajectory();
40 // endEffectorTrajectory_ =
41
42 // if (this->endEffectorTrajectory_.size() == 0)
43 // {
44 // RCLCPP_WARN_STREAM(getLogger(), "[" << smacc2::demangleSymbol(typeid(*this).name()) << "] No points in the trajectory. Skipping behavior.");
45 // return;
46 // }
47
48 //this->createMarkers();
49 //markersInitialized_ = true;
50
51 moveit_msgs::msg::RobotTrajectory trajectory;
52
53 if (trajectoryHistory->getLastTrajectory(trajectory))
54 {
55 this->executeJointSpaceTrajectory(trajectory);
56 }
57}
void executeJointSpaceTrajectory(const moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)
void requiresClient(SmaccClientType *&storage)
void requiresComponent(SmaccComponentType *&storage, bool throwExceptionIfNotExist=false)

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: