cl_nav2z::CbRotateLookAt Class Reference

#include <cb_rotate_look_at.hpp>

Inheritance diagram for cl_nav2z::CbRotateLookAt:

Collaboration diagram for cl_nav2z::CbRotateLookAt:

Public Member Functions
	CbRotateLookAt ()
	CbRotateLookAt (const geometry_msgs::msg::PoseStamped &lookAtPose)
void	onEntry () override
Public Member Functions inherited from cl_nav2z::CbAbsoluteRotate
	CbAbsoluteRotate ()
	CbAbsoluteRotate (float absoluteGoalAngleDegree, float yawGoalTolerance=-1)
void	onExit () override
Public Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
virtual	~CbNav2ZClientBehaviorBase ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
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 Attributes
std::shared_ptr< tf2_ros::Buffer >	listener
std::optional< geometry_msgs::msg::PoseStamped >	lookAtPose_
Public Attributes inherited from cl_nav2z::CbAbsoluteRotate
std::shared_ptr< tf2_ros::Buffer >	listener
float	absoluteGoalAngleDegree
std::optional< float >	yawGoalTolerance
std::optional< float >	maxVelTheta
std::optional< SpinningPlanner >	spinningPlanner

Additional Inherited Members
Protected Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
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
Protected Attributes inherited from cl_nav2z::CbNav2ZClientBehaviorBase
cl_nav2z::ClNav2Z *	nav2zClient_
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr	navigationCallback_
rclcpp_action::ResultCode	navigationResult_
std::shared_future< std::shared_ptr< rclcpp_action::ClientGoalHandle< nav2_msgs::action::NavigateToPose > > >	goalHandleFuture_

Detailed Description

Definition at line 30 of file cb_rotate_look_at.hpp.

Constructor & Destructor Documentation

CbRotateLookAt() [1/2]

cl_nav2z::CbRotateLookAt::CbRotateLookAt

(

)

Definition at line 32 of file cb_rotate_look_at.cpp.

{}

CbRotateLookAt() [2/2]

cl_nav2z::CbRotateLookAt::CbRotateLookAt

(

const geometry_msgs::msg::PoseStamped &

lookAtPose

)

Definition at line 34 of file cb_rotate_look_at.cpp.

: lookAtPose_(lookAtPose)
{
}

Member Function Documentation

onEntry()

void cl_nav2z::CbRotateLookAt::onEntry ( )

overridevirtual

Reimplemented from cl_nav2z::CbAbsoluteRotate.

Definition at line 39 of file cb_rotate_look_at.cpp.

{
  cl_nav2z::Pose * pose;
  this->requiresComponent(pose);
 
  pose->waitTransformUpdate(rclcpp::Rate(20));
  auto position = pose->toPoseMsg().position;
 
  if (lookAtPose_)
  {
    auto targetPosition = lookAtPose_->pose.position;
    double yaw_degrees =
      atan2(targetPosition.y - position.y, targetPosition.x - position.x) * 180.0 / M_PI;
    this->absoluteGoalAngleDegree = yaw_degrees;
  }
 
  CbAbsoluteRotate::onEntry();
}

References cl_nav2z::CbAbsoluteRotate::absoluteGoalAngleDegree, lookAtPose_, cl_nav2z::CbAbsoluteRotate::onEntry(), smacc2::ISmaccClientBehavior::requiresComponent(), cl_nav2z::Pose::toPoseMsg(), and cl_nav2z::Pose::waitTransformUpdate().

Here is the call graph for this function:

Member Data Documentation

listener

std::shared_ptr<tf2_ros::Buffer> cl_nav2z::CbRotateLookAt::listener

Definition at line 33 of file cb_rotate_look_at.hpp.

lookAtPose_

std::optional<geometry_msgs::msg::PoseStamped> cl_nav2z::CbRotateLookAt::lookAtPose_

Definition at line 35 of file cb_rotate_look_at.hpp.

Referenced by onEntry().

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_rotate_look_at.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_rotate_look_at.cpp