cl_moveit2z::CpTrajectoryHistory Class Reference

#include <cp_trajectory_history.hpp>

Inheritance diagram for cl_moveit2z::CpTrajectoryHistory:

Collaboration diagram for cl_moveit2z::CpTrajectoryHistory:

Public Member Functions
bool	getLastTrajectory (int backIndex, moveit_msgs::msg::RobotTrajectory &trajectory)
bool	getLastTrajectory (moveit_msgs::msg::RobotTrajectory &trajectory)
void	pushTrajectory (std::string name, const moveit_msgs::msg::RobotTrajectory &trajectory, moveit_msgs::msg::MoveItErrorCodes result)
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Private Attributes
std::vector< TrajectoryHistoryEntry >	trajectoryHistory_

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 37 of file cp_trajectory_history.hpp.

Member Function Documentation

getLastTrajectory() [1/2]

bool cl_moveit2z::CpTrajectoryHistory::getLastTrajectory	(	int	backIndex,
		moveit_msgs::msg::RobotTrajectory &	trajectory
	)

Definition at line 25 of file cp_trajectory_history.cpp.

{
  if (trajectoryHistory_.size() == 0)
  {
    RCLCPP_WARN_STREAM(
      getLogger(), "[" << getName() << "] requested index: " << backIndex
                       << ", history size: " << trajectoryHistory_.size());
    return false;
  }
 
  if (backIndex < 0)
 
  {
    backIndex = 0;
  }
  else if ((size_t)backIndex >= this->trajectoryHistory_.size())
  {
    RCLCPP_WARN_STREAM(
      getLogger(), "[" << getName() << "] requested index: " << backIndex
                       << ", history size: " << trajectoryHistory_.size());
    return false;
  }
 
  trajectory = this->trajectoryHistory_[this->trajectoryHistory_.size() - 1 - backIndex].trajectory;
  return true;
}

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), and trajectoryHistory_.

Referenced by getLastTrajectory(), cl_moveit2z::CbExecuteLastTrajectory::onEntry(), cl_moveit2z::CbMoveLastTrajectoryInitialState::onEntry(), and cl_moveit2z::CbUndoLastTrajectory::onEntry().

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getLastTrajectory() [2/2]

bool cl_moveit2z::CpTrajectoryHistory::getLastTrajectory

(

moveit_msgs::msg::RobotTrajectory &

trajectory

)

Definition at line 53 of file cp_trajectory_history.cpp.

{
  return getLastTrajectory(-1, trajectory);
}

References getLastTrajectory().

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pushTrajectory()

void cl_moveit2z::CpTrajectoryHistory::pushTrajectory	(	std::string	name,
		const moveit_msgs::msg::RobotTrajectory &	trajectory,
		moveit_msgs::msg::MoveItErrorCodes	result
	)

Definition at line 58 of file cp_trajectory_history.cpp.

{
  RCLCPP_INFO_STREAM(
    getLogger(), "[" << getName() << "] adding a new trajectory to the history ( "
                     << trajectory.joint_trajectory.points.size() << " poses)");
 
  TrajectoryHistoryEntry entry;
  this->trajectoryHistory_.push_back(entry);
 
  auto & last = this->trajectoryHistory_.back();
  last.trajectory = trajectory;
  last.result = result;
  last.name = name;
}

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), cl_moveit2z::TrajectoryHistoryEntry::trajectory, and trajectoryHistory_.

Referenced by cl_moveit2z::CbMoveEndEffectorTrajectory::onEntry().

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Member Data Documentation

trajectoryHistory_

std::vector<TrajectoryHistoryEntry> cl_moveit2z::CpTrajectoryHistory::trajectoryHistory_

private

Definition at line 49 of file cp_trajectory_history.hpp.

Referenced by getLastTrajectory(), and pushTrajectory().

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

• smacc2_client_library/moveit2z_client/include/moveit2z_client/components/cp_trajectory_history.hpp
• smacc2_client_library/moveit2z_client/src/moveit2z_client/components/cp_trajectory_history.cpp