#include <cb_wait_pose.hpp>

Inheritance diagram for cl_nav2z::CbWaitPose:

Collaboration diagram for cl_nav2z::CbWaitPose:

Public Member Functions
	CbWaitPose ()

	CbWaitPose (WaitPoseStandardReferenceFrame frame)

virtual	~CbWaitPose ()

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

void	onEntry () 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 ()

Protected Attributes
cl_nav2z::ClNav2Z *	nav2zClient_

Additional Inherited Members
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 36 of file cb_wait_pose.hpp.

Constructor & Destructor Documentation

◆ CbWaitPose() [1/2]

cl_nav2z::CbWaitPose::CbWaitPose ( )

Definition at line 29 of file cb_wait_pose.cpp.

29{}

◆ CbWaitPose() [2/2]

cl_nav2z::CbWaitPose::CbWaitPose ( WaitPoseStandardReferenceFrame frame )

◆ ~CbWaitPose()

cl_nav2z::CbWaitPose::~CbWaitPose ( )

virtual

Definition at line 31 of file cb_wait_pose.cpp.

31{}

Member Function Documentation

◆ onEntry()

void cl_nav2z::CbWaitPose::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 33 of file cb_wait_pose.cpp.

{
  auto pose = this->nav2zClient_->getComponent<Pose>();
  try
  {
    pose->waitTransformUpdate(rclcpp::Rate(20));
    auto posemsg = pose->toPoseMsg();
    RCLCPP_INFO_STREAM(getLogger(), "[CbWaitPose] pose arrived: " << std::endl << posemsg);
  }
  catch (std::exception & ex)
  {
    RCLCPP_INFO(getLogger(), "[CbWaitPose] error getting the robot pose");
    this->postFailureEvent();
    return;
  }
 
  RCLCPP_INFO(getLogger(), "[CbWaitPose] pose received");
  this->postSuccessEvent();
}

References smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClientBehavior::getLogger(), nav2zClient_, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and cl_nav2z::Pose::waitTransformUpdate().

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◆ onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbWaitPose::onOrthogonalAllocation ( )

inline

Definition at line 48 of file cb_wait_pose.hpp.

  {
    this->requiresClient(nav2zClient_);
    smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References nav2zClient_, and smacc2::ISmaccClientBehavior::requiresClient().

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Member Data Documentation

◆ nav2zClient_

cl_nav2z::ClNav2Z* cl_nav2z::CbWaitPose::nav2zClient_

protected

Definition at line 57 of file cb_wait_pose.hpp.

Referenced by onEntry(), and onOrthogonalAllocation().

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

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

Public Member Functions

Protected Attributes

Additional Inherited Members