cl_moveit2z::CbExecuteLastTrajectory Class Reference

#include <cb_execute_last_trajectory.hpp>

Inheritance diagram for cl_moveit2z::CbExecuteLastTrajectory:

Collaboration diagram for cl_moveit2z::CbExecuteLastTrajectory:

Public Member Functions
	CbExecuteLastTrajectory ()
virtual	~CbExecuteLastTrajectory ()
virtual void	generateTrajectory ()
virtual void	onEntry () 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
	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 ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
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)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
Public Member Functions inherited from smacc2::ISmaccUpdatable
	ISmaccUpdatable ()
	ISmaccUpdatable (rclcpp::Duration duration)
void	executeUpdate (rclcpp::Node::SharedPtr node)
void	setUpdatePeriod (rclcpp::Duration duration)

Additional Inherited Members
Public Attributes inherited from cl_moveit2z::CbMoveEndEffectorTrajectory
std::optional< std::string >	group_
std::optional< std::string >	tipLink_
std::optional< bool >	allowInitialTrajectoryStateJointDiscontinuity_
Protected Member Functions inherited from cl_moveit2z::CbMoveEndEffectorTrajectory
ComputeJointTrajectoryErrorCode	computeJointSpaceTrajectory (moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)
void	executeJointSpaceTrajectory (const moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)
virtual void	createMarkers ()
void	getCurrentEndEffectorPose (std::string globalFrame, tf2::Stamped< tf2::Transform > &currentEndEffectorTransform)
ComputeJointTrajectoryErrorCode	computeJointSpaceTrajectory (moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)
void	executeJointSpaceTrajectory (const moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)
virtual void	createMarkers ()
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 Member Functions inherited from smacc2::ISmaccUpdatable
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 27 of file cb_execute_last_trajectory.hpp.

Constructor & Destructor Documentation

CbExecuteLastTrajectory()

cl_moveit2z::CbExecuteLastTrajectory::CbExecuteLastTrajectory

(

)

Definition at line 26 of file cb_execute_last_trajectory.cpp.

{}

~CbExecuteLastTrajectory()

cl_moveit2z::CbExecuteLastTrajectory::~CbExecuteLastTrajectory ( )

virtual

Definition at line 28 of file cb_execute_last_trajectory.cpp.

{}

Member Function Documentation

generateTrajectory()

void cl_moveit2z::CbExecuteLastTrajectory::generateTrajectory ( )

virtual

Reimplemented from cl_moveit2z::CbMoveEndEffectorTrajectory.

Definition at line 30 of file cb_execute_last_trajectory.cpp.

{}

onEntry()

void cl_moveit2z::CbExecuteLastTrajectory::onEntry ( )

overridevirtual

Reimplemented from cl_moveit2z::CbMoveEndEffectorTrajectory.

Definition at line 32 of file cb_execute_last_trajectory.cpp.

{
  this->requiresClient(movegroupClient_);
 
  CpTrajectoryHistory * trajectoryHistory;
  this->requiresComponent(trajectoryHistory);
 
  // this->generateTrajectory();
  // endEffectorTrajectory_ =
 
  // if (this->endEffectorTrajectory_.size() == 0)
  // {
  //     RCLCPP_WARN_STREAM(getLogger(), "[" << smacc2::demangleSymbol(typeid(*this).name()) << "] No points in the trajectory. Skipping behavior.");
  //     return;
  // }
 
  //this->createMarkers();
  //markersInitialized_ = true;
 
  moveit_msgs::msg::RobotTrajectory trajectory;
 
  if (trajectoryHistory->getLastTrajectory(trajectory))
  {
    this->executeJointSpaceTrajectory(trajectory);
  }
}

References cl_moveit2z::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_moveit2z::CpTrajectoryHistory::getLastTrajectory(), cl_moveit2z::CbMoveEndEffectorTrajectory::movegroupClient_, smacc2::ISmaccClientBehavior::requiresClient(), and smacc2::ISmaccClientBehavior::requiresComponent().

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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_execute_last_trajectory.hpp
• smacc2_client_library/moveit2z_client/src/moveit2z_client/client_behaviors/cb_execute_last_trajectory.cpp