cl_nav2z::CbNavigateNextWaypoint Class Reference

#include <cb_navigate_next_waypoint.hpp>

Inheritance diagram for cl_nav2z::CbNavigateNextWaypoint:

Collaboration diagram for cl_nav2z::CbNavigateNextWaypoint:

Public Member Functions
	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 ()
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 ()

Protected Attributes
WaypointNavigator *	waypointsNavigator_
NavigateNextWaypointOptions	options_
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr	navigationCallback_
Protected Attributes inherited from cl_nav2z::CbNav2ZClientBehaviorBase
cl_nav2z::ClNav2Z *	nav2zClient_
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr	navigationCallback_
rclcpp_action::ResultCode	navigationResult_
std::shared_future< std::shared_ptr< rclcpp_action::ClientGoalHandle< nav2_msgs::action::NavigateToPose > > >	goalHandleFuture_

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 ()
ISmaccState *	getCurrentState ()
virtual void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode () const
virtual rclcpp::Logger	getLogger () const

Detailed Description

Definition at line 29 of file cb_navigate_next_waypoint.hpp.

Constructor & Destructor Documentation

CbNavigateNextWaypoint()

cl_nav2z::CbNavigateNextWaypoint::CbNavigateNextWaypoint

(

std::optional< NavigateNextWaypointOptions >

options = std::nullopt

)

Definition at line 25 of file cb_navigate_next_waypoint.cpp.

{
  if (options) options_ = *options;
}

References options_.

~CbNavigateNextWaypoint()

cl_nav2z::CbNavigateNextWaypoint::~CbNavigateNextWaypoint ( )

virtual

Definition at line 30 of file cb_navigate_next_waypoint.cpp.

{}

Member Function Documentation

onEntry()

void cl_nav2z::CbNavigateNextWaypoint::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached.

Definition at line 32 of file cb_navigate_next_waypoint.cpp.

{
  waypointsNavigator_ = nav2zClient_->getComponent<WaypointNavigator>();
 
  this->navigationCallback_ = std::make_shared<cl_nav2z::ClNav2Z::SmaccNavigateResultSignal>();
 
  this->getStateMachine()->createSignalConnection(
    *navigationCallback_, &CbNavigateNextWaypoint::onNavigationResult, this);
 
  auto goalHandle = waypointsNavigator_->sendNextGoal(options_, navigationCallback_);
 
  auto waypointname = waypointsNavigator_->getCurrentWaypointName();
 
  if (waypointname)
  {
    RCLCPP_INFO(
      getLogger(), "[CbNavigateNextWaypoint] current iteration waypoints i: %ld with name '%s'",
      waypointsNavigator_->getCurrentWaypointIndex(), waypointname->c_str());
  }
  else
  {
    RCLCPP_INFO(
      getLogger(), "[CbNavigateNextWaypoint] current iteration waypoints i: %ld",
      waypointsNavigator_->getCurrentWaypointIndex());
  }
}

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClient::getComponent(), cl_nav2z::WaypointNavigator::getCurrentWaypointIndex(), cl_nav2z::WaypointNavigator::getCurrentWaypointName(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getStateMachine(), cl_nav2z::CbNav2ZClientBehaviorBase::nav2zClient_, navigationCallback_, cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationResult(), options_, cl_nav2z::WaypointNavigator::sendNextGoal(), and waypointsNavigator_.

Referenced by cl_nav2z::CbNavigateNamedWaypoint::onEntry(), and cl_nav2z::CbNavigateNextWaypointUntilReached::onEntry().

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onExit()

void cl_nav2z::CbNavigateNextWaypoint::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached.

Definition at line 59 of file cb_navigate_next_waypoint.cpp.

{ waypointsNavigator_->stopWaitingResult(); }

References cl_nav2z::WaypointNavigator::stopWaitingResult(), and waypointsNavigator_.

Referenced by cl_nav2z::CbNavigateNamedWaypoint::onExit(), and cl_nav2z::CbNavigateNextWaypointUntilReached::onExit().

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Member Data Documentation

navigationCallback_

cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr cl_nav2z::CbNavigateNextWaypoint::navigationCallback_

protected

Definition at line 45 of file cb_navigate_next_waypoint.hpp.

Referenced by onEntry().

options_

NavigateNextWaypointOptions cl_nav2z::CbNavigateNextWaypoint::options_

protected

Definition at line 43 of file cb_navigate_next_waypoint.hpp.

Referenced by CbNavigateNextWaypoint(), and onEntry().

waypointsNavigator_

WaypointNavigator* cl_nav2z::CbNavigateNextWaypoint::waypointsNavigator_

protected

Definition at line 41 of file cb_navigate_next_waypoint.hpp.

Referenced by onEntry(), onExit(), and cl_nav2z::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess().

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_next_waypoint.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_next_waypoint.cpp