cl_nav2z::CbSeekWaypoint Class Reference

#include <cb_seek_waypoint.hpp>

Inheritance diagram for cl_nav2z::CbSeekWaypoint:

Collaboration diagram for cl_nav2z::CbSeekWaypoint:

Public Member Functions
	CbSeekWaypoint (std::string skip_until_name)
virtual	~CbSeekWaypoint ()
void	onEntry () override
void	onExit () override
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)
virtual void	executeOnEntry ()
virtual void	executeOnExit ()

Public Attributes
CpWaypointNavigator *	waypointsNavigator_
NavigateNextWaypointOptions	options_

Private Attributes
std::optional< int >	count_
std::optional< std::string >	seekWaypointName_

Additional Inherited Members
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 void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode () const
virtual rclcpp::Logger	getLogger () const

Detailed Description

Definition at line 29 of file cb_seek_waypoint.hpp.

Constructor & Destructor Documentation

CbSeekWaypoint()

cl_nav2z::CbSeekWaypoint::CbSeekWaypoint

(

std::string

skip_until_name

)

Definition at line 25 of file cb_seek_waypoint.cpp.

: count_(std::nullopt), seekWaypointName_(seekWaypointName)
{
}

~CbSeekWaypoint()

cl_nav2z::CbSeekWaypoint::~CbSeekWaypoint ( )

virtual

Definition at line 30 of file cb_seek_waypoint.cpp.

{}

Member Function Documentation

onEntry()

void cl_nav2z::CbSeekWaypoint::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 32 of file cb_seek_waypoint.cpp.

{
  cl_nav2z::ClNav2Z * nav2zClient_;
  this->requiresClient(nav2zClient_);
  waypointsNavigator_ = nav2zClient_->getComponent<CpWaypointNavigator>();
 
  if (count_)
  {
    waypointsNavigator_->forward(*count_);
    count_ = std::nullopt;
  }
  else if (seekWaypointName_)
  {
    waypointsNavigator_->seekName(*seekWaypointName_);
    seekWaypointName_ = std::nullopt;
  }
}

References count_, cl_nav2z::CpWaypointNavigatorBase::forward(), smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClientBehavior::requiresClient(), cl_nav2z::CpWaypointNavigatorBase::seekName(), seekWaypointName_, and waypointsNavigator_.

Here is the call graph for this function:

onExit()

void cl_nav2z::CbSeekWaypoint::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 50 of file cb_seek_waypoint.cpp.

{}

Member Data Documentation

count_

std::optional<int> cl_nav2z::CbSeekWaypoint::count_

private

Definition at line 45 of file cb_seek_waypoint.hpp.

Referenced by onEntry().

options_

NavigateNextWaypointOptions cl_nav2z::CbSeekWaypoint::options_

Definition at line 42 of file cb_seek_waypoint.hpp.

seekWaypointName_

std::optional<std::string> cl_nav2z::CbSeekWaypoint::seekWaypointName_

private

Definition at line 46 of file cb_seek_waypoint.hpp.

Referenced by onEntry().

waypointsNavigator_

CpWaypointNavigator* cl_nav2z::CbSeekWaypoint::waypointsNavigator_

Definition at line 40 of file cb_seek_waypoint.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_seek_waypoint.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_seek_waypoint.cpp