#include <cb_navigate_next_waypoint_free.hpp>

Inheritance diagram for cl_nav2z::CbNavigateNextWaypointFree:

Collaboration diagram for cl_nav2z::CbNavigateNextWaypointFree:

Public Member Functions
	CbNavigateNextWaypointFree ()

virtual	~CbNavigateNextWaypointFree ()

void	onEntry () override

void	onSucessCallback ()

void	onExit () override

Public Member Functions inherited from cl_nav2z::CbPositionControlFreeSpace
	CbPositionControlFreeSpace ()

void	updateParameters ()

void	onEntry () override

void	onExit () 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)

Protected Attributes
cl_nav2z::CpWaypointNavigatorBase *	waypointsNavigator_

Additional Inherited Members
Public Attributes inherited from cl_nav2z::CbPositionControlFreeSpace
double	yaw_goal_tolerance_rads_ = 0.1

double	threshold_distance_ = 3.0

geometry_msgs::msg::Pose	target_pose_

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 27 of file cb_navigate_next_waypoint_free.hpp.

Constructor & Destructor Documentation

◆ CbNavigateNextWaypointFree()

cl_nav2z::CbNavigateNextWaypointFree::CbNavigateNextWaypointFree ( )

Definition at line 25 of file cb_navigate_next_waypoint_free.cpp.

25{}

◆ ~CbNavigateNextWaypointFree()

cl_nav2z::CbNavigateNextWaypointFree::~CbNavigateNextWaypointFree ( )

virtual

Definition at line 27 of file cb_navigate_next_waypoint_free.cpp.

27{}

Member Function Documentation

◆ onEntry()

void cl_nav2z::CbNavigateNextWaypointFree::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 29 of file cb_navigate_next_waypoint_free.cpp.

{
  requiresComponent(this->waypointsNavigator_);
  this->target_pose_ = this->waypointsNavigator_->getCurrentPose();
 
  this->onSuccess(&CbNavigateNextWaypointFree::CbNavigateNextWaypointFree::onSucessCallback, this);
  RCLCPP_INFO_STREAM(
    getLogger(), "[CbNavigateNextWaypoint] initial load file target pose: x: "
                   << this->target_pose_.position.x << ", y: " << this->target_pose_.position.y);
  CbPositionControlFreeSpace::onEntry();
}

References cl_nav2z::CpWaypointNavigatorBase::getCurrentPose(), smacc2::ISmaccClientBehavior::getLogger(), cl_nav2z::CbPositionControlFreeSpace::onEntry(), smacc2::SmaccAsyncClientBehavior::onSuccess(), smacc2::ISmaccClientBehavior::requiresComponent(), cl_nav2z::CbPositionControlFreeSpace::target_pose_, and waypointsNavigator_.

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◆ onExit()

void cl_nav2z::CbNavigateNextWaypointFree::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 52 of file cb_navigate_next_waypoint_free.cpp.

52{}

◆ onSucessCallback()

void cl_nav2z::CbNavigateNextWaypointFree::onSucessCallback ( )

Definition at line 41 of file cb_navigate_next_waypoint_free.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[CbNavigateNextWaypoint] Success on planning to next waypoint");
  this->waypointsNavigator_->notifyGoalReached();
  this->waypointsNavigator_->forward(1);
  RCLCPP_INFO_STREAM(
    getLogger(), "[CbNavigateNextWaypoint] next position index: "
                   << this->waypointsNavigator_->getCurrentWaypointIndex() << "/"
                   << this->waypointsNavigator_->getWaypoints().size());
}

References cl_nav2z::CpWaypointNavigatorBase::forward(), cl_nav2z::CpWaypointNavigatorBase::getCurrentWaypointIndex(), smacc2::ISmaccClientBehavior::getLogger(), cl_nav2z::CpWaypointNavigatorBase::notifyGoalReached(), and waypointsNavigator_.

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Member Data Documentation

◆ waypointsNavigator_

cl_nav2z::CpWaypointNavigatorBase* cl_nav2z::CbNavigateNextWaypointFree::waypointsNavigator_

protected

Definition at line 41 of file cb_navigate_next_waypoint_free.hpp.

Referenced by onEntry(), and onSucessCallback().

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

smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_next_waypoint_free.hpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_next_waypoint_free.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members