#include <cb_attach_object.hpp>

Inheritance diagram for cl_moveit2z::CbAttachObject:

Collaboration diagram for cl_moveit2z::CbAttachObject:

Public Member Functions
	CbAttachObject (std::string targetObjectName)

	CbAttachObject ()

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)

Public Attributes
std::string	targetObjectName_

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()

void	postFailureEvent ()

virtual void	dispose () override

bool	isShutdownRequested ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.

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 rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

Detailed Description

Definition at line 28 of file cb_attach_object.hpp.

Constructor & Destructor Documentation

◆ CbAttachObject() [1/2]

cl_moveit2z::CbAttachObject::CbAttachObject ( std::string targetObjectName )

Definition at line 26 of file cb_attach_object.cpp.

                                                         : targetObjectName_(targetObjectName)
{
}

◆ CbAttachObject() [2/2]

cl_moveit2z::CbAttachObject::CbAttachObject ( )

Definition at line 30 of file cb_attach_object.cpp.

30{}

Member Function Documentation

◆ onEntry()

void cl_moveit2z::CbAttachObject::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 32 of file cb_attach_object.cpp.

{
  cl_moveit2z::ClMoveit2z * moveGroup;
  this->requiresClient(moveGroup);
 
  cl_moveit2z::CpGraspingComponent * graspingComponent;
  this->requiresComponent(graspingComponent);
 
  // auto cubepos = cubeinfo->pose_->toPoseStampedMsg();
 
  moveit_msgs::msg::CollisionObject targetCollisionObject;
 
  bool found = graspingComponent->getGraspingObject(targetObjectName_, targetCollisionObject);
 
  if (found)
  {
    targetCollisionObject.operation = moveit_msgs::msg::CollisionObject::ADD;
    targetCollisionObject.header.stamp = getNode()->now();
 
    moveGroup->planningSceneInterface->applyCollisionObject(targetCollisionObject);
    // collisionObjects.push_back(cubeCollision);
 
    graspingComponent->currentAttachedObjectName = targetObjectName_;
    moveGroup->moveGroupClientInterface->attachObject(
      targetObjectName_, graspingComponent->gripperLink_, graspingComponent->fingerTipNames);
 
    RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Grasping objectfound. attach request.");
 
    this->postSuccessEvent();
  }
  else
  {
    RCLCPP_WARN_STREAM(
      getLogger(), "[" << getName() << "] Grasping object was not found. Ignoring attach request.");
 
    this->postFailureEvent();
  }
}

References cl_moveit2z::CpGraspingComponent::currentAttachedObjectName, cl_moveit2z::CpGraspingComponent::fingerTipNames, cl_moveit2z::CpGraspingComponent::getGraspingObject(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), cl_moveit2z::CpGraspingComponent::gripperLink_, cl_moveit2z::ClMoveit2z::moveGroupClientInterface, cl_moveit2z::ClMoveit2z::planningSceneInterface, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::ISmaccClientBehavior::requiresClient(), smacc2::ISmaccClientBehavior::requiresComponent(), and targetObjectName_.

Here is the call graph for this function:

◆ onExit()

void cl_moveit2z::CbAttachObject::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 71 of file cb_attach_object.cpp.

71{}

Member Data Documentation

◆ targetObjectName_

std::string cl_moveit2z::CbAttachObject::targetObjectName_

Definition at line 39 of file cb_attach_object.hpp.

Referenced by onEntry().

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

smacc2_client_library/moveit2z_client/include/moveit2z_client/client_behaviors/cb_attach_object.hpp
smacc2_client_library/moveit2z_client/src/moveit2z_client/client_behaviors/cb_attach_object.cpp

Public Member Functions

Public Attributes

Additional Inherited Members