cl_move_group_interface::CbMoveLastTrajectoryInitialState Class Reference

#include <cb_move_last_trajectory_initial_state.hpp>

Inheritance diagram for cl_move_group_interface::CbMoveLastTrajectoryInitialState:

Collaboration diagram for cl_move_group_interface::CbMoveLastTrajectoryInitialState:

Public Member Functions
	CbMoveLastTrajectoryInitialState ()
	CbMoveLastTrajectoryInitialState (int backIndex)
virtual	~CbMoveLastTrajectoryInitialState ()
virtual void	onEntry () override
Public Member Functions inherited from cl_move_group_interface::CbMoveJoints
	CbMoveJoints ()
	CbMoveJoints (const std::map< std::string, double > &jointValueTarget)
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 ()

Private Attributes
int	backIndex_ = -1

Additional Inherited Members
Public Attributes inherited from cl_move_group_interface::CbMoveJoints
std::optional< double >	scalingFactor_
std::map< std::string, double >	jointValueTarget_
std::optional< std::string >	group_
Protected Member Functions inherited from cl_move_group_interface::CbMoveJoints
void	moveJoints (moveit::planning_interface::MoveGroupInterface &moveGroupInterface)
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
Protected Attributes inherited from cl_move_group_interface::CbMoveJoints
ClMoveGroup *	movegroupClient_

Detailed Description

Definition at line 27 of file cb_move_last_trajectory_initial_state.hpp.

Constructor & Destructor Documentation

CbMoveLastTrajectoryInitialState() [1/2]

cl_move_group_interface::CbMoveLastTrajectoryInitialState::CbMoveLastTrajectoryInitialState

(

)

Definition at line 26 of file cb_move_last_trajectory_initial_state.cpp.

{}

CbMoveLastTrajectoryInitialState() [2/2]

cl_move_group_interface::CbMoveLastTrajectoryInitialState::CbMoveLastTrajectoryInitialState

(

int

backIndex

)

Definition at line 28 of file cb_move_last_trajectory_initial_state.cpp.

: backIndex_(backIndex)
{
}

~CbMoveLastTrajectoryInitialState()

cl_move_group_interface::CbMoveLastTrajectoryInitialState::~CbMoveLastTrajectoryInitialState ( )

virtual

Definition at line 33 of file cb_move_last_trajectory_initial_state.cpp.

{}

Member Function Documentation

onEntry()

void cl_move_group_interface::CbMoveLastTrajectoryInitialState::onEntry ( )

overridevirtual

Reimplemented from cl_move_group_interface::CbMoveJoints.

Definition at line 35 of file cb_move_last_trajectory_initial_state.cpp.

{
  CpTrajectoryHistory * trajectoryHistory;
  this->requiresComponent(trajectoryHistory);
 
  if (trajectoryHistory != nullptr)
  {
    moveit_msgs::msg::RobotTrajectory trajectory;
 
    bool trajectoryFound = trajectoryHistory->getLastTrajectory(backIndex_, trajectory);
 
    if (trajectoryFound)
    {
      trajectory_msgs::msg::JointTrajectoryPoint & initialPoint =
        trajectory.joint_trajectory.points.front();
 
      std::stringstream ss;
      for (size_t i = 0; i < trajectory.joint_trajectory.joint_names.size(); i++)
      {
        auto & name = trajectory.joint_trajectory.joint_names[i];
 
        jointValueTarget_[name] = initialPoint.positions[i];
        ss << name << ": " << jointValueTarget_[name] << std::endl;
      }
      RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "]" << std::endl << ss.str());
 
      RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] move joint onEntry");
      CbMoveJoints::onEntry();
      RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] move joint onEntry finished");
    }
  }
 
  //call base OnEntry
}

References backIndex_, cl_move_group_interface::CpTrajectoryHistory::getLastTrajectory(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), cl_move_group_interface::CbMoveJoints::jointValueTarget_, cl_move_group_interface::CbMoveJoints::onEntry(), and smacc2::ISmaccClientBehavior::requiresComponent().

Here is the call graph for this function:

Member Data Documentation

backIndex_

int cl_move_group_interface::CbMoveLastTrajectoryInitialState::backIndex_ = -1

private

Definition at line 39 of file cb_move_last_trajectory_initial_state.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_move_last_trajectory_initial_state.hpp
• smacc2_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_move_last_trajectory_initial_state.cpp