#include <cb_navigate_next_waypoint.hpp>

Inheritance diagram for cl_nav2z::CbNavigateNextWaypoint:

Collaboration diagram for cl_nav2z::CbNavigateNextWaypoint:

Public Member Functions
	CbNavigateNextWaypoint (std::optional< NavigateNextWaypointOptions > options=std::nullopt)

virtual	~CbNavigateNextWaypoint ()

void	onEntry () override

void	onExit () override

	CbNavigateNextWaypoint (std::optional< NavigateNextWaypointOptions > options=std::nullopt)

virtual	~CbNavigateNextWaypoint ()

void	onEntry () override

void	onExit () override

Public Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
virtual	~CbNav2ZClientBehaviorBase ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

virtual	~CbNav2ZClientBehaviorBase ()

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

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
CpWaypointNavigator *	waypointsNavigator_

NavigateNextWaypointOptions	options_

cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr	navigationCallback_

Protected Attributes inherited from cl_nav2z::CbNav2ZClientBehaviorBase
components::CpNav2ActionInterface *	nav2ActionInterface_ = nullptr

smacc2::client_core_components::CpActionClient< nav2_msgs::action::NavigateToPose > *	actionClient_ = nullptr

rclcpp_action::ResultCode	navigationResult_

cl_nav2z::ClNav2Z *	nav2zClient_

cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr	navigationCallback_

std::shared_future< std::shared_ptr< rclcpp_action::ClientGoalHandle< nav2_msgs::action::NavigateToPose > > >	goalHandleFuture_

Additional Inherited Members
Protected Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
void	sendGoal (nav2_msgs::action::NavigateToPose::Goal &goal)

void	cancelGoal ()

template<typename T >
boost::signals2::connection	onNavigationSucceeded (void(T::callback)(const components::CpNav2ActionInterface::WrappedResult &), T object)

template<typename T >
boost::signals2::connection	onNavigationAborted (void(T::callback)(const components::CpNav2ActionInterface::WrappedResult &), T object)

template<typename T >
boost::signals2::connection	onNavigationCancelled (void(T::callback)(const components::CpNav2ActionInterface::WrappedResult &), T object)

virtual void	onNavigationResult (const components::CpNav2ActionInterface::WrappedResult &)

virtual void	onNavigationActionSuccess (const components::CpNav2ActionInterface::WrappedResult &)

virtual void	onNavigationActionAbort (const components::CpNav2ActionInterface::WrappedResult &)

void	sendGoal (ClNav2Z::Goal &goal)

void	cancelGoal ()

bool	isOwnActionResponse (const ClNav2Z::WrappedResult &)

virtual void	onNavigationResult (const ClNav2Z::WrappedResult &)

virtual void	onNavigationActionSuccess (const ClNav2Z::WrappedResult &)

virtual void	onNavigationActionAbort (const ClNav2Z::WrappedResult &)

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 29 of file cb_navigate_next_waypoint.hpp.

Constructor & Destructor Documentation

◆ CbNavigateNextWaypoint() [1/2]

cl_nav2z::CbNavigateNextWaypoint::CbNavigateNextWaypoint ( std::optional< NavigateNextWaypointOptions > options = std::nullopt )

Definition at line 27 of file cb_navigate_next_waypoint.cpp.

{
  if (options) options_ = *options;
}

References options_.

◆ ~CbNavigateNextWaypoint() [1/2]

cl_nav2z::CbNavigateNextWaypoint::~CbNavigateNextWaypoint ( )

virtual

Definition at line 32 of file cb_navigate_next_waypoint.cpp.

32{}

◆ CbNavigateNextWaypoint() [2/2]

cl_nav2z::CbNavigateNextWaypoint::CbNavigateNextWaypoint ( std::optional< NavigateNextWaypointOptions > options = std::nullopt )

◆ ~CbNavigateNextWaypoint() [2/2]

virtual cl_nav2z::CbNavigateNextWaypoint::~CbNavigateNextWaypoint ( )

virtual

Member Function Documentation

◆ onEntry() [1/2]

void cl_nav2z::CbNavigateNextWaypoint::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached, and cl_nav2z::CbNavigateNextWaypointUntilReached.

Definition at line 34 of file cb_navigate_next_waypoint.cpp.

{
  this->requiresComponent(waypointsNavigator_, ComponentRequirement::HARD);
 
  auto goalHandle = waypointsNavigator_->sendNextGoal(options_);
 
  auto waypointname = waypointsNavigator_->getCurrentWaypointName();
 
  if (waypointname)
  {
    RCLCPP_INFO(
      getLogger(), "[CbNavigateNextWaypoint] current iteration waypoints i: %ld with name '%s'",
      waypointsNavigator_->getCurrentWaypointIndex(), waypointname->c_str());
  }
  else
  {
    RCLCPP_INFO(
      getLogger(), "[CbNavigateNextWaypoint] current iteration waypoints i: %ld",
      waypointsNavigator_->getCurrentWaypointIndex());
  }
}

References cl_nav2z::CpWaypointNavigatorBase::getCurrentWaypointIndex(), cl_nav2z::CpWaypointNavigatorBase::getCurrentWaypointName(), smacc2::ISmaccClientBehavior::getLogger(), options_, smacc2::ISmaccClientBehavior::requiresComponent(), cl_nav2z::CpWaypointNavigator::sendNextGoal(), and waypointsNavigator_.

Referenced by cl_nav2z::CbNavigateNamedWaypoint::onEntry(), and cl_nav2z::CbNavigateNextWaypointUntilReached::onEntry().

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◆ onEntry() [2/2]

void cl_nav2z::CbNavigateNextWaypoint::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached, and cl_nav2z::CbNavigateNextWaypointUntilReached.

◆ onExit() [1/2]

void cl_nav2z::CbNavigateNextWaypoint::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached, and cl_nav2z::CbNavigateNextWaypointUntilReached.

Definition at line 56 of file cb_navigate_next_waypoint.cpp.

56{ waypointsNavigator_->stopWaitingResult(); }

cl_nav2z::CpWaypointNavigator::stopWaitingResult

void stopWaitingResult()

Definition cp_waypoints_navigator.cpp:188

References cl_nav2z::CpWaypointNavigator::stopWaitingResult(), and waypointsNavigator_.

Referenced by cl_nav2z::CbNavigateNamedWaypoint::onExit(), and cl_nav2z::CbNavigateNextWaypointUntilReached::onExit().

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◆ onExit() [2/2]

void cl_nav2z::CbNavigateNextWaypoint::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached, and cl_nav2z::CbNavigateNextWaypointUntilReached.

Member Data Documentation

◆ navigationCallback_

cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr cl_nav2z::CbNavigateNextWaypoint::navigationCallback_

protected

Definition at line 45 of file cb_navigate_next_waypoint.hpp.

◆ options_

NavigateNextWaypointOptions cl_nav2z::CbNavigateNextWaypoint::options_

protected

Definition at line 43 of file cb_navigate_next_waypoint.hpp.

Referenced by CbNavigateNextWaypoint(), and onEntry().

◆ waypointsNavigator_

CpWaypointNavigator * cl_nav2z::CbNavigateNextWaypoint::waypointsNavigator_

protected

Definition at line 41 of file cb_navigate_next_waypoint.hpp.

Referenced by onEntry(), onExit(), cl_nav2z::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess(), and cl_nav2z::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess().

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

smacc2_client_library/cl_nav2z/include/cl_nav2z/client_behaviors/cb_navigate_next_waypoint.hpp
smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_next_waypoint.hpp
smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_navigate_next_waypoint.cpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_next_waypoint.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbNavigateNextWaypoint() [1/2]

◆ ~CbNavigateNextWaypoint() [1/2]

◆ CbNavigateNextWaypoint() [2/2]

◆ ~CbNavigateNextWaypoint() [2/2]

Member Function Documentation

◆ onEntry() [1/2]

◆ onEntry() [2/2]

◆ onExit() [1/2]

◆ onExit() [2/2]

Member Data Documentation

◆ navigationCallback_

◆ options_

◆ waypointsNavigator_