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Public Member Functions | Public Attributes | List of all members
cl_nav2z::CbNavigateNamedWaypoint Class Reference

#include <cb_navigate_named_waypoint.hpp>

Inheritance diagram for cl_nav2z::CbNavigateNamedWaypoint:
Inheritance graph
Collaboration diagram for cl_nav2z::CbNavigateNamedWaypoint:
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Public Member Functions

 CbNavigateNamedWaypoint (std::string waypointname, std::optional< NavigateNextWaypointOptions > options=std::nullopt)
 
virtual ~CbNavigateNamedWaypoint ()
 
void onEntry () override
 
void onExit () override
 
- Public Member Functions inherited from cl_nav2z::CbNavigateNextWaypoint
 CbNavigateNextWaypoint (std::optional< NavigateNextWaypointOptions > options=std::nullopt)
 
virtual ~CbNavigateNextWaypoint ()
 
void onEntry () override
 
void onExit () override
 
- Public Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
virtual ~CbNav2ZClientBehaviorBase ()
 
template<typename TOrthogonal , typename TSourceObject >
void onOrthogonalAllocation ()
 
- 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 Attributes

WaypointNavigatorwaypointsNavigator_
 
std::string waypointname_
 

Additional Inherited Members

- Protected Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
void sendGoal (ClNav2Z::Goal &goal)
 
void cancelGoal ()
 
bool isOwnActionResponse (const ClNav2Z::WrappedResult &)
 
virtual void onNavigationResult (const ClNav2Z::WrappedResult &)
 
virtual void onNavigationActionSuccess (const ClNav2Z::WrappedResult &)
 
virtual void onNavigationActionAbort (const ClNav2Z::WrappedResult &)
 
- 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
 
- Protected Attributes inherited from cl_nav2z::CbNavigateNextWaypoint
WaypointNavigatorwaypointsNavigator_
 
NavigateNextWaypointOptions options_
 
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr navigationCallback_
 
- Protected Attributes inherited from cl_nav2z::CbNav2ZClientBehaviorBase
cl_nav2z::ClNav2Znav2zClient_
 
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr navigationCallback_
 
rclcpp_action::ResultCode navigationResult_
 
std::shared_future< std::shared_ptr< rclcpp_action::ClientGoalHandle< nav2_msgs::action::NavigateToPose > > > goalHandleFuture_
 

Detailed Description

Definition at line 29 of file cb_navigate_named_waypoint.hpp.

Constructor & Destructor Documentation

◆ CbNavigateNamedWaypoint()

cl_nav2z::CbNavigateNamedWaypoint::CbNavigateNamedWaypoint ( std::string  waypointname,
std::optional< NavigateNextWaypointOptions options = std::nullopt 
)

Definition at line 25 of file cb_navigate_named_waypoint.cpp.

28{
29 waypointname_ = waypointname;
30}
CbNavigateNextWaypoint(std::optional< NavigateNextWaypointOptions > options=std::nullopt)

References waypointname_.

◆ ~CbNavigateNamedWaypoint()

cl_nav2z::CbNavigateNamedWaypoint::~CbNavigateNamedWaypoint ( )
virtual

Definition at line 32 of file cb_navigate_named_waypoint.cpp.

32{}

Member Function Documentation

◆ onEntry()

void cl_nav2z::CbNavigateNamedWaypoint::onEntry ( )
overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 34 of file cb_navigate_named_waypoint.cpp.

35{
36 // waypointsNavigator_ = nav2zClient_->getComponent<WaypointNavigator>();
37 // waypointsNavigator_->sendNextGoal(options_);
38
39 // auto waypointname = waypointsNavigator_->getCurrentWaypointName();
40
41 // if(waypointname)
42 // {
43 // RCLCPP_INFO(
44 // getLogger(), "[CbNavigateNamedWaypoint] current iteration waypoints i: %ld with name '%s'",
45 // waypointsNavigator_->getCurrentWaypointIndex(), waypointname->c_str()); }
46 // else
47 // {
48 // RCLCPP_INFO(
49 // getLogger(), "[CbNavigateNamedWaypoint] current iteration waypoints i: %ld",
50 // waypointsNavigator_->getCurrentWaypointIndex()); }
51
52 auto waypointsNavigator_ = nav2zClient_->getComponent<WaypointNavigator>();
55}
void seekName(std::string name)
TComponent * getComponent()

References smacc2::ISmaccClient::getComponent(), cl_nav2z::CbNav2ZClientBehaviorBase::nav2zClient_, cl_nav2z::CbNavigateNextWaypoint::onEntry(), cl_nav2z::WaypointNavigator::seekName(), waypointname_, and waypointsNavigator_.

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◆ onExit()

void cl_nav2z::CbNavigateNamedWaypoint::onExit ( )
overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 57 of file cb_navigate_named_waypoint.cpp.

References cl_nav2z::CbNavigateNextWaypoint::onExit().

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Member Data Documentation

◆ waypointname_

std::string cl_nav2z::CbNavigateNamedWaypoint::waypointname_

Definition at line 43 of file cb_navigate_named_waypoint.hpp.

Referenced by CbNavigateNamedWaypoint(), and onEntry().

◆ waypointsNavigator_

WaypointNavigator* cl_nav2z::CbNavigateNamedWaypoint::waypointsNavigator_

Definition at line 41 of file cb_navigate_named_waypoint.hpp.

Referenced by onEntry().


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