cl_moveit2z::CpTFListener Class Reference

#include <cp_tf_listener.hpp>

Inheritance diagram for cl_moveit2z::CpTFListener:

Collaboration diagram for cl_moveit2z::CpTFListener:

Public Member Functions
	CpTFListener ()
virtual void	update () override
void	getLastTransform (std::string &targetPoseFrameName, std::string &referenceBaseFrame, geometry_msgs::msg::Pose &out)
std::future< geometry_msgs::msg::Pose >	waitForNextTransform (std::string &targetName, std::string &referenceBaseFrame)
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const
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
std::mutex	m_mutex_
std::list< std::shared_ptr< TfPoseTrack > >	poseTracks_

Static Private Attributes
static std::shared_ptr< tf2_ros::TransformListener >	tfListener_
static std::mutex	listenerMutex_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
virtual void	onInitialize ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist=false)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist=false)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger () const
ISmaccStateMachine *	getStateMachine ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 44 of file cp_tf_listener.hpp.

Constructor & Destructor Documentation

CpTFListener()

cl_moveit2z::CpTFListener::CpTFListener

(

)

Member Function Documentation

getLastTransform()

void cl_moveit2z::CpTFListener::getLastTransform ( std::string &  targetPoseFrameName, std::string &  referenceBaseFrame, geometry_msgs::msg::Pose &  out  )

inline

Definition at line 80 of file cp_tf_listener.hpp.

  {
  }

update()

virtual void cl_moveit2z::CpTFListener::update ( )

inlineoverridevirtual

Implements smacc2::ISmaccUpdatable.

Definition at line 49 of file cp_tf_listener.hpp.

  {
    for (auto & poseTrack : poseTracks_)
    {
      tf2::Stamped<tf2::Transform> transform;
      try
      {
        {
          std::lock_guard<std::mutex> lock(listenerMutex_);
          tfListener_->lookupTransform(
            poseTrack->referenceBaseFrame_, poseTrack->targetPoseFrame_, rclcpp::Time(0),
            transform);
        }
 
        {
          std::lock_guard<std::mutex> guard(m_mutex_);
          poseTrack->pose_.pose = tf2::toMsg(transform);
          poseTrack->pose_.header.stamp = transform.stamp_;
          poseTrack->pose_.header.frame_id = poseTrack->referenceBaseFrame_;
          poseTrack->isInitialized = true;
        }
      }
      catch (tf2::TransformException ex)
      {
        RCLCPP_ERROR_STREAM_THROTTLE(
          1, "[Component pose] (getLogger(), " << poseFrameName_ << "/[" << referenceFrame_
                                               << "] ) is failing on pose update : " << ex.what());
      }
    }
  }

References listenerMutex_, m_mutex_, poseTracks_, and tfListener_.

waitForNextTransform()

std::future< geometry_msgs::msg::Pose > cl_moveit2z::CpTFListener::waitForNextTransform ( std::string &  targetName, std::string &  referenceBaseFrame  )

inline

Definition at line 86 of file cp_tf_listener.hpp.

  {
    tracks_
  }

Member Data Documentation

listenerMutex_

std::mutex cl_moveit2z::CpTFListener::listenerMutex_

staticprivate

Definition at line 94 of file cp_tf_listener.hpp.

Referenced by update().

m_mutex_

std::mutex cl_moveit2z::CpTFListener::m_mutex_

private

Definition at line 96 of file cp_tf_listener.hpp.

Referenced by update().

poseTracks_

std::list<std::shared_ptr<TfPoseTrack> > cl_moveit2z::CpTFListener::poseTracks_

private

Definition at line 97 of file cp_tf_listener.hpp.

Referenced by update().

tfListener_

std::shared_ptr<tf2_ros::TransformListener> cl_moveit2z::CpTFListener::tfListener_

staticprivate

Definition at line 93 of file cp_tf_listener.hpp.

Referenced by update().

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

• smacc2_client_library/moveit2z_client/include/moveit2z_client/components/cp_tf_listener.hpp