#include <cb_move_named_target.hpp>

Inheritance diagram for cl_moveit2z::CbMoveNamedTarget:

Collaboration diagram for cl_moveit2z::CbMoveNamedTarget:

Public Member Functions
	CbMoveNamedTarget (std::string namedtarget)

virtual void	onEntry () override

virtual void	onExit () override

std::map< std::string, double >	getNamedTargetValues ()

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)

Protected Attributes
ClMoveit2z *	movegroupClient_

std::string	namedTarget_

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 32 of file cb_move_named_target.hpp.

Constructor & Destructor Documentation

◆ CbMoveNamedTarget()

cl_moveit2z::CbMoveNamedTarget::CbMoveNamedTarget ( std::string namedtarget )

Definition at line 25 of file cb_move_named_target.cpp.

25: namedTarget_(namedtarget) {}

cl_moveit2z::CbMoveNamedTarget::namedTarget_

std::string namedTarget_

Definition cb_move_named_target.hpp:36

Member Function Documentation

◆ getNamedTargetValues()

std::map< std::string, double > cl_moveit2z::CbMoveNamedTarget::getNamedTargetValues ( )

Definition at line 35 of file cb_move_named_target.cpp.

{
  return movegroupClient_->moveGroupClientInterface->getNamedTargetValues(this->namedTarget_);
}

References movegroupClient_, cl_moveit2z::ClMoveit2z::moveGroupClientInterface, and namedTarget_.

◆ onEntry()

void cl_moveit2z::CbMoveNamedTarget::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 27 of file cb_move_named_target.cpp.

{
  this->requiresClient(movegroupClient_);
  movegroupClient_->moveGroupClientInterface->setNamedTarget(this->namedTarget_);
}

References movegroupClient_, cl_moveit2z::ClMoveit2z::moveGroupClientInterface, namedTarget_, and smacc2::ISmaccClientBehavior::requiresClient().

Here is the call graph for this function:

◆ onExit()

void cl_moveit2z::CbMoveNamedTarget::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 33 of file cb_move_named_target.cpp.

33{}

Member Data Documentation

◆ movegroupClient_

ClMoveit2z* cl_moveit2z::CbMoveNamedTarget::movegroupClient_

protected

Definition at line 35 of file cb_move_named_target.hpp.

Referenced by getNamedTargetValues(), and onEntry().

◆ namedTarget_

std::string cl_moveit2z::CbMoveNamedTarget::namedTarget_