cl_moveit2z::CbMoveLastTrajectoryInitialState Class Reference

#include <cb_move_last_trajectory_initial_state.hpp>

Inheritance diagram for cl_moveit2z::CbMoveLastTrajectoryInitialState:

Collaboration diagram for cl_moveit2z::CbMoveLastTrajectoryInitialState:

Public Member Functions
	CbMoveLastTrajectoryInitialState ()
	CbMoveLastTrajectoryInitialState (int backIndex)
virtual	~CbMoveLastTrajectoryInitialState ()
virtual void	onEntry () override
Public Member Functions inherited from cl_moveit2z::CbMoveJoints
	CbMoveJoints ()
	CbMoveJoints (const std::map< std::string, double > &jointValueTarget)
virtual void	onExit () override
	CbMoveJoints ()
	CbMoveJoints (const std::map< std::string, double > &jointValueTarget)
virtual void	onExit () 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)

Private Attributes
int	backIndex_ = -1

Additional Inherited Members
Public Attributes inherited from cl_moveit2z::CbMoveJoints
std::optional< double >	scalingFactor_
std::map< std::string, double >	jointValueTarget_
std::optional< std::string >	group_
Protected Member Functions inherited from cl_moveit2z::CbMoveJoints
void	moveJoints (moveit::planning_interface::MoveGroupInterface &moveGroupInterface)
void	moveJoints (moveit::planning_interface::MoveGroupInterface &moveGroupInterface)
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
Static Protected Member Functions inherited from cl_moveit2z::CbMoveJoints
static std::string	currentJointStatesToString (moveit::planning_interface::MoveGroupInterface &moveGroupInterface, std::map< std::string, double > &targetJoints)
Protected Attributes inherited from cl_moveit2z::CbMoveJoints
ClMoveit2z *	movegroupClient_

Detailed Description

Definition at line 27 of file cb_move_last_trajectory_initial_state.hpp.

Constructor & Destructor Documentation

CbMoveLastTrajectoryInitialState() [1/2]

cl_moveit2z::CbMoveLastTrajectoryInitialState::CbMoveLastTrajectoryInitialState

(

)

Definition at line 26 of file cb_move_last_trajectory_initial_state.cpp.

{}

CbMoveLastTrajectoryInitialState() [2/2]

cl_moveit2z::CbMoveLastTrajectoryInitialState::CbMoveLastTrajectoryInitialState

(

int

backIndex

)

Definition at line 28 of file cb_move_last_trajectory_initial_state.cpp.

: backIndex_(backIndex)
{
}

~CbMoveLastTrajectoryInitialState()

cl_moveit2z::CbMoveLastTrajectoryInitialState::~CbMoveLastTrajectoryInitialState ( )

virtual

Definition at line 33 of file cb_move_last_trajectory_initial_state.cpp.

{}

Member Function Documentation

onEntry()

void cl_moveit2z::CbMoveLastTrajectoryInitialState::onEntry ( )

overridevirtual

Reimplemented from cl_moveit2z::CbMoveJoints.

Definition at line 35 of file cb_move_last_trajectory_initial_state.cpp.

{
  CpTrajectoryHistory * trajectoryHistory;
  this->requiresComponent(trajectoryHistory);
 
  if (trajectoryHistory != nullptr)
  {
    moveit_msgs::msg::RobotTrajectory trajectory;
 
    bool trajectoryFound = trajectoryHistory->getLastTrajectory(backIndex_, trajectory);
 
    if (trajectoryFound)
    {
      trajectory_msgs::msg::JointTrajectoryPoint & initialPoint =
        trajectory.joint_trajectory.points.front();
 
      std::stringstream ss;
      for (size_t i = 0; i < trajectory.joint_trajectory.joint_names.size(); i++)
      {
        auto & name = trajectory.joint_trajectory.joint_names[i];
 
        jointValueTarget_[name] = initialPoint.positions[i];
        ss << name << ": " << jointValueTarget_[name] << std::endl;
      }
      RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "]" << std::endl << ss.str());
 
      RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] move joint onEntry");
      CbMoveJoints::onEntry();
      RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] move joint onEntry finished");
    }
  }
 
  //call base OnEntry
}

References backIndex_, cl_moveit2z::CpTrajectoryHistory::getLastTrajectory(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), cl_moveit2z::CbMoveJoints::jointValueTarget_, cl_moveit2z::CbMoveJoints::onEntry(), and smacc2::ISmaccClientBehavior::requiresComponent().

Here is the call graph for this function:

Member Data Documentation

backIndex_

int cl_moveit2z::CbMoveLastTrajectoryInitialState::backIndex_ = -1

private

Definition at line 39 of file cb_move_last_trajectory_initial_state.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_move_last_trajectory_initial_state.hpp
• smacc2_client_library/moveit2z_client/src/moveit2z_client/client_behaviors/cb_move_last_trajectory_initial_state.cpp