cl_nav2z::CbWaitPose Class Reference

#include <cb_wait_pose.hpp>

Inheritance diagram for cl_nav2z::CbWaitPose:

Collaboration diagram for cl_nav2z::CbWaitPose:

Public Member Functions
	CbWaitPose ()
	CbWaitPose (WaitPoseStandardReferenceFrame frame)
virtual	~CbWaitPose ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
void	onEntry () 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)
virtual void	onExit ()

Protected Attributes
cl_nav2z::ClNav2Z *	nav2zClient_

Additional Inherited Members
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 36 of file cb_wait_pose.hpp.

Constructor & Destructor Documentation

CbWaitPose() [1/2]

cl_nav2z::CbWaitPose::CbWaitPose

(

)

Definition at line 29 of file cb_wait_pose.cpp.

{}

CbWaitPose() [2/2]

cl_nav2z::CbWaitPose::CbWaitPose

(

WaitPoseStandardReferenceFrame

frame

)

~CbWaitPose()

cl_nav2z::CbWaitPose::~CbWaitPose ( )

virtual

Definition at line 31 of file cb_wait_pose.cpp.

{}

Member Function Documentation

onEntry()

void cl_nav2z::CbWaitPose::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 33 of file cb_wait_pose.cpp.

{
  auto pose = this->nav2zClient_->getComponent<Pose>();
  try
  {
    pose->waitTransformUpdate(rclcpp::Rate(20));
    auto posemsg = pose->toPoseMsg();
    RCLCPP_INFO_STREAM(getLogger(), "[CbWaitPose] pose arrived: " << std::endl << posemsg);
  }
  catch (std::exception & ex)
  {
    RCLCPP_INFO(getLogger(), "[CbWaitPose] error getting the robot pose");
    this->postFailureEvent();
    return;
  }
 
  RCLCPP_INFO(getLogger(), "[CbWaitPose] pose received");
  this->postSuccessEvent();
}

References smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClientBehavior::getLogger(), nav2zClient_, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and cl_nav2z::Pose::waitTransformUpdate().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbWaitPose::onOrthogonalAllocation ( )

inline

Definition at line 48 of file cb_wait_pose.hpp.

  {
    this->requiresClient(nav2zClient_);
    smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References nav2zClient_, and smacc2::ISmaccClientBehavior::requiresClient().

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Member Data Documentation

nav2zClient_

cl_nav2z::ClNav2Z* cl_nav2z::CbWaitPose::nav2zClient_

protected

Definition at line 57 of file cb_wait_pose.hpp.

Referenced by onEntry(), and onOrthogonalAllocation().

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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_wait_pose.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_wait_pose.cpp