#include <cb_rotate_look_at.hpp>

Inheritance diagram for cl_nav2z::CbRotateLookAt:

Collaboration diagram for cl_nav2z::CbRotateLookAt:

Public Member Functions
	CbRotateLookAt ()

	CbRotateLookAt (const geometry_msgs::msg::PoseStamped &lookAtPose)

void	onEntry () override

Public Member Functions inherited from cl_nav2z::CbAbsoluteRotate
	CbAbsoluteRotate ()

	CbAbsoluteRotate (float absoluteGoalAngleDegree, float yawGoalTolerance=-1)

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 ()

Public Attributes
std::shared_ptr< tf2_ros::Buffer >	listener

std::optional< geometry_msgs::msg::PoseStamped >	lookAtPose_

Public Attributes inherited from cl_nav2z::CbAbsoluteRotate
std::shared_ptr< tf2_ros::Buffer >	listener

float	absoluteGoalAngleDegree

std::optional< float >	yawGoalTolerance

std::optional< float >	maxVelTheta

std::optional< SpinningPlanner >	spinningPlanner

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

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_

Detailed Description

Definition at line 30 of file cb_rotate_look_at.hpp.

Constructor & Destructor Documentation

◆ CbRotateLookAt() [1/2]

cl_nav2z::CbRotateLookAt::CbRotateLookAt ( )

Definition at line 32 of file cb_rotate_look_at.cpp.

32{}

◆ CbRotateLookAt() [2/2]

cl_nav2z::CbRotateLookAt::CbRotateLookAt ( const geometry_msgs::msg::PoseStamped & lookAtPose )

Definition at line 34 of file cb_rotate_look_at.cpp.

: lookAtPose_(lookAtPose)
{
}

Member Function Documentation

◆ onEntry()

void cl_nav2z::CbRotateLookAt::onEntry ( )

overridevirtual

Reimplemented from cl_nav2z::CbAbsoluteRotate.

Definition at line 39 of file cb_rotate_look_at.cpp.

{
  cl_nav2z::Pose * pose;
  this->requiresComponent(pose);
 
  pose->waitTransformUpdate(rclcpp::Rate(20));
  auto position = pose->toPoseMsg().position;
 
  if (lookAtPose_)
  {
    auto targetPosition = lookAtPose_->pose.position;
    double yaw_degrees =
      atan2(targetPosition.y - position.y, targetPosition.x - position.x) * 180.0 / M_PI;
    this->absoluteGoalAngleDegree = yaw_degrees;
  }
 
  CbAbsoluteRotate::onEntry();
}

References cl_nav2z::CbAbsoluteRotate::absoluteGoalAngleDegree, lookAtPose_, cl_nav2z::CbAbsoluteRotate::onEntry(), smacc2::ISmaccClientBehavior::requiresComponent(), cl_nav2z::Pose::toPoseMsg(), and cl_nav2z::Pose::waitTransformUpdate().

Here is the call graph for this function:

Member Data Documentation

◆ listener

std::shared_ptr<tf2_ros::Buffer> cl_nav2z::CbRotateLookAt::listener

Definition at line 33 of file cb_rotate_look_at.hpp.

◆ lookAtPose_

std::optional<geometry_msgs::msg::PoseStamped> cl_nav2z::CbRotateLookAt::lookAtPose_

Definition at line 35 of file cb_rotate_look_at.hpp.

Referenced by onEntry().

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

smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_rotate_look_at.hpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_rotate_look_at.cpp

Public Member Functions

Public Attributes

Additional Inherited Members