cl_moveit2z::CbEndEffectorRotate Class Reference

#include <cb_end_effector_rotate.hpp>

Inheritance diagram for cl_moveit2z::CbEndEffectorRotate:

Collaboration diagram for cl_moveit2z::CbEndEffectorRotate:

Public Member Functions
	CbEndEffectorRotate (double deltaRadians, std::optional< std::string > tipLink=std::nullopt)
virtual	~CbEndEffectorRotate ()
virtual void	onEntry () override
Public Member Functions inherited from cl_moveit2z::CbCircularPivotMotion
	CbCircularPivotMotion (std::optional< std::string > tipLink=std::nullopt)
	CbCircularPivotMotion (const geometry_msgs::msg::PoseStamped &planePivotPose, double deltaRadians, std::optional< std::string > tipLink=std::nullopt)
	CbCircularPivotMotion (const geometry_msgs::msg::PoseStamped &planePivotPose, const geometry_msgs::msg::Pose &relativeInitialPose, double deltaRadians, std::optional< std::string > tipLink=std::nullopt)
virtual void	generateTrajectory () override
virtual void	createMarkers () override
Public Member Functions inherited from cl_moveit2z::CbMoveEndEffectorTrajectory
	CbMoveEndEffectorTrajectory (std::optional< std::string > tipLink=std::nullopt)
	CbMoveEndEffectorTrajectory (const std::vector< geometry_msgs::msg::PoseStamped > &endEffectorTrajectory, std::optional< std::string > tipLink=std::nullopt)
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual void	onExit () override
virtual void	update () 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 Member Functions inherited from smacc2::ISmaccUpdatable
	ISmaccUpdatable ()
	ISmaccUpdatable (rclcpp::Duration duration)
void	executeUpdate (rclcpp::Node::SharedPtr node)
void	setUpdatePeriod (rclcpp::Duration duration)

Public Attributes
std::optional< std::string >	tipLink
Public Attributes inherited from cl_moveit2z::CbCircularPivotMotion
std::optional< double >	angularSpeed_rad_s_
std::optional< double >	linearSpeed_m_s_
std::optional< geometry_msgs::msg::Pose >	relativeInitialPose_
Public Attributes inherited from cl_moveit2z::CbMoveEndEffectorTrajectory
std::optional< std::string >	group_
std::optional< std::string >	tipLink_
std::optional< bool >	allowInitialTrajectoryStateJointDiscontinuity_

Additional Inherited Members
Protected Member Functions inherited from cl_moveit2z::CbMoveEndEffectorTrajectory
ComputeJointTrajectoryErrorCode	computeJointSpaceTrajectory (moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)
void	executeJointSpaceTrajectory (const moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)
void	getCurrentEndEffectorPose (std::string globalFrame, tf2::Stamped< tf2::Transform > &currentEndEffectorTransform)
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
Protected Attributes inherited from cl_moveit2z::CbCircularPivotMotion
geometry_msgs::msg::PoseStamped	planePivotPose_
double	deltaRadians_
Protected Attributes inherited from cl_moveit2z::CbMoveEndEffectorTrajectory
std::vector< geometry_msgs::msg::PoseStamped >	endEffectorTrajectory_
ClMoveit2z *	movegroupClient_ = nullptr
visualization_msgs::msg::MarkerArray	beahiorMarkers_

Detailed Description

Definition at line 26 of file cb_end_effector_rotate.hpp.

Constructor & Destructor Documentation

CbEndEffectorRotate()

cl_moveit2z::CbEndEffectorRotate::CbEndEffectorRotate	(	double	deltaRadians,
		std::optional< std::string >	tipLink = std::nullopt
	)

Definition at line 34 of file cb_end_effector_rotate.cpp.

: CbCircularPivotMotion(tipLink)
{
  deltaRadians_ = deltaRadians;
}

References cl_moveit2z::CbCircularPivotMotion::deltaRadians_.

~CbEndEffectorRotate()

cl_moveit2z::CbEndEffectorRotate::~CbEndEffectorRotate ( )

virtual

Definition at line 40 of file cb_end_effector_rotate.cpp.

{}

Member Function Documentation

onEntry()

void cl_moveit2z::CbEndEffectorRotate::onEntry ( )

overridevirtual

Reimplemented from cl_moveit2z::CbMoveEndEffectorTrajectory.

Definition at line 42 of file cb_end_effector_rotate.cpp.

{
  // autocompute pivot pose
  tf2_ros::Buffer tfBuffer(getNode()->get_clock());
  tf2_ros::TransformListener tfListener(tfBuffer);
 
  tf2::Stamped<tf2::Transform> endEffectorInPivotFrame;
 
  int attempts = 3;
 
  this->requiresClient(movegroupClient_);
  if (!tipLink_)
  {
    tipLink_ = this->movegroupClient_->moveGroupClientInterface->getEndEffectorLink();
    RCLCPP_WARN_STREAM(
      getLogger(),
      "[" << getName() << "] tip unspecified, using default end effector: " << *tipLink_);
  }
 
  while (attempts > 0)
  {
    try
    {
      //auto pivotFrameName = this->movegroupClient_->moveGroupClientInterface->getPlanningFrame();
      auto pivotFrameName = this->movegroupClient_->moveGroupClientInterface->getEndEffectorLink();
 
      tf2::Stamped<tf2::Transform> endEffectorInPivotFrame;
 
      tf2::fromMsg(
        tfBuffer.lookupTransform(pivotFrameName, *tipLink_, rclcpp::Time(), rclcpp::Duration(10s)),
        endEffectorInPivotFrame);
 
      tf2::toMsg(endEffectorInPivotFrame, this->planePivotPose_.pose);
      this->planePivotPose_.header.frame_id = endEffectorInPivotFrame.frame_id_;
      this->planePivotPose_.header.stamp =
        rclcpp::Time(endEffectorInPivotFrame.stamp_.time_since_epoch().count());
      break;
    }
    catch (const std::exception & e)
    {
      RCLCPP_ERROR_STREAM(getLogger(), e.what() << ". Attempt countdown: " << attempts);
      rclcpp::Duration(500ms);
      attempts--;
    }
  }
 
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] pivotPose: " << planePivotPose_);
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[" << getName() << "] calling base CbCircularPivotMotion::onEntry");
  CbCircularPivotMotion::onEntry();
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), cl_moveit2z::CbMoveEndEffectorTrajectory::movegroupClient_, cl_moveit2z::ClMoveit2z::moveGroupClientInterface, smacc2::ISmaccClientBehavior::onEntry(), cl_moveit2z::CbCircularPivotMotion::planePivotPose_, smacc2::ISmaccClientBehavior::requiresClient(), and cl_moveit2z::CbMoveEndEffectorTrajectory::tipLink_.

Here is the call graph for this function:

Member Data Documentation

tipLink

std::optional<std::string> cl_moveit2z::CbEndEffectorRotate::tipLink

Definition at line 35 of file cb_end_effector_rotate.hpp.

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

• smacc2_client_library/moveit2z_client/include/moveit2z_client/client_behaviors/cb_end_effector_rotate.hpp
• smacc2_client_library/moveit2z_client/src/moveit2z_client/client_behaviors/cb_end_effector_rotate.cpp