#include <cb_undo_last_trajectory.hpp>

Inheritance diagram for cl_moveit2z::CbUndoLastTrajectory:

Collaboration diagram for cl_moveit2z::CbUndoLastTrajectory:

Public Member Functions
	CbUndoLastTrajectory ()

	CbUndoLastTrajectory (int backIndex)

virtual	~CbUndoLastTrajectory ()

virtual void	onEntry () override

virtual void	generateTrajectory ()

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)

Private Attributes
int	backIndex_ = -1

moveit_msgs::msg::RobotTrajectory	trajectory

moveit_msgs::msg::RobotTrajectory	reversed

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)

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::CbMoveEndEffectorTrajectory
std::vector< geometry_msgs::msg::PoseStamped >	endEffectorTrajectory_

ClMoveit2z *	movegroupClient_ = nullptr

visualization_msgs::msg::MarkerArray	beahiorMarkers_

Detailed Description

Definition at line 28 of file cb_undo_last_trajectory.hpp.

Constructor & Destructor Documentation

◆ CbUndoLastTrajectory() [1/2]

cl_moveit2z::CbUndoLastTrajectory::CbUndoLastTrajectory ( )

Definition at line 26 of file cb_undo_last_trajectory.cpp.

26{}

◆ CbUndoLastTrajectory() [2/2]

cl_moveit2z::CbUndoLastTrajectory::CbUndoLastTrajectory ( int backIndex )

Definition at line 28 of file cb_undo_last_trajectory.cpp.

28: backIndex_(backIndex) {}

cl_moveit2z::CbUndoLastTrajectory::backIndex_

int backIndex_

Definition cb_undo_last_trajectory.hpp:42

◆ ~CbUndoLastTrajectory()

cl_moveit2z::CbUndoLastTrajectory::~CbUndoLastTrajectory ( )

virtual

Definition at line 30 of file cb_undo_last_trajectory.cpp.

30{}

Member Function Documentation

◆ generateTrajectory()

void cl_moveit2z::CbUndoLastTrajectory::generateTrajectory ( )

virtual

Implements cl_moveit2z::CbMoveEndEffectorTrajectory.

Definition at line 32 of file cb_undo_last_trajectory.cpp.

32{}

◆ onEntry()

void cl_moveit2z::CbUndoLastTrajectory::onEntry ( )

overridevirtual

Reimplemented from cl_moveit2z::CbMoveEndEffectorTrajectory.

Definition at line 34 of file cb_undo_last_trajectory.cpp.

{
  CpTrajectoryHistory * trajectoryHistory;
  this->requiresComponent(trajectoryHistory);
  this->requiresClient(movegroupClient_);
 
  if (trajectoryHistory->getLastTrajectory(backIndex_, trajectory))
  {
    RCLCPP_WARN_STREAM(
      getLogger(), "[" << getName() << "] reversing last trajectory [" << backIndex_ << "]");
 
    auto initialTime = trajectory.joint_trajectory.points.back().time_from_start;
 
    reversed = trajectory;
 
    std::reverse(reversed.joint_trajectory.points.begin(), reversed.joint_trajectory.points.end());
 
    for (auto & jp : reversed.joint_trajectory.points)
    {
      jp.time_from_start = rclcpp::Duration(initialTime) - rclcpp::Duration(jp.time_from_start);
    }
 
    this->executeJointSpaceTrajectory(reversed);
  }
  else
  {
    RCLCPP_WARN_STREAM(
      getLogger(), "[" << getName() << "] could not undo last trajectory, trajectory not found.");
  }
}

References backIndex_, cl_moveit2z::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_moveit2z::CpTrajectoryHistory::getLastTrajectory(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), cl_moveit2z::CbMoveEndEffectorTrajectory::movegroupClient_, smacc2::ISmaccClientBehavior::requiresClient(), smacc2::ISmaccClientBehavior::requiresComponent(), reversed, and trajectory.

Here is the call graph for this function:

Member Data Documentation

◆ backIndex_

int cl_moveit2z::CbUndoLastTrajectory::backIndex_ = -1

private

Definition at line 42 of file cb_undo_last_trajectory.hpp.

Referenced by onEntry().

◆ reversed

moveit_msgs::msg::RobotTrajectory cl_moveit2z::CbUndoLastTrajectory::reversed

private

Definition at line 45 of file cb_undo_last_trajectory.hpp.

Referenced by onEntry().

◆ trajectory

moveit_msgs::msg::RobotTrajectory cl_moveit2z::CbUndoLastTrajectory::trajectory

private

Definition at line 44 of file cb_undo_last_trajectory.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_undo_last_trajectory.hpp
smacc2_client_library/moveit2z_client/src/moveit2z_client/client_behaviors/cb_undo_last_trajectory.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbUndoLastTrajectory() [1/2]

◆ CbUndoLastTrajectory() [2/2]

◆ ~CbUndoLastTrajectory()

Member Function Documentation

◆ generateTrajectory()

◆ onEntry()

Member Data Documentation

◆ backIndex_

◆ reversed

◆ trajectory