#include <cb_wait_transform.hpp>

Inheritance diagram for cl_nav2z::CbWaitTransform:

Collaboration diagram for cl_nav2z::CbWaitTransform:

Public Member Functions
	CbWaitTransform (std::string targetFrame, std::string referenceFrame, rclcpp::Duration timeout)

virtual	~CbWaitTransform ()

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
std::shared_ptr< tf2_ros::Buffer >	tfBuffer_

std::shared_ptr< tf2_ros::TransformListener >	tfListener_

std::string	targetFrame_

std::string	referenceFrame_

rclcpp::Duration	timeout_

std::optional< tf2::Stamped< tf2::Transform > >	result_

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 34 of file cb_wait_transform.hpp.

Constructor & Destructor Documentation

◆ CbWaitTransform()

cl_nav2z::CbWaitTransform::CbWaitTransform	(	std::string	targetFrame,
		std::string	referenceFrame,
		rclcpp::Duration	timeout
	)

Definition at line 24 of file cb_wait_transform.cpp.

: targetFrame_(targetFrame), referenceFrame_(referenceFrame), timeout_(timeout)
{
}

◆ ~CbWaitTransform()

cl_nav2z::CbWaitTransform::~CbWaitTransform ( )

virtual

Definition at line 30 of file cb_wait_transform.cpp.

30{}

Member Function Documentation

◆ onEntry()

void cl_nav2z::CbWaitTransform::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 32 of file cb_wait_transform.cpp.

{
  RCLCPP_INFO(
    getLogger(), "[CbWaitTransform] ref %s -> target %s", referenceFrame_.c_str(),
    targetFrame_.c_str());
 
  tfBuffer_ = std::make_shared<tf2_ros::Buffer>(getNode()->get_clock());
  tfListener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer_);
 
  tf2::Stamped<tf2::Transform> transform;
  try
  {
    auto transformstamped =
      tfBuffer_->lookupTransform(targetFrame_, referenceFrame_, getNode()->now(), timeout_);
    tf2::fromMsg(transformstamped, transform);
 
    result_ = transform;
 
    RCLCPP_INFO(
      getLogger(), "[CbWaitTransform] Success wait transform ref %s -> target %s",
      referenceFrame_.c_str(), targetFrame_.c_str());
    this->postSuccessEvent();
  }
  catch (tf2::TransformException & ex)
  {
    RCLCPP_ERROR_STREAM(
      getLogger(), "[CbWaitTransform] Failure waiting transform ( ref "
                     << targetFrame_ << "/ target " << referenceFrame_ << " - " << ex.what());
    this->postFailureEvent();
  }
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), referenceFrame_, result_, targetFrame_, tfBuffer_, tfListener_, and timeout_.

Here is the call graph for this function:

◆ onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbWaitTransform::onOrthogonalAllocation ( )

inline

Definition at line 42 of file cb_wait_transform.hpp.

  {
    smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

Member Data Documentation

◆ referenceFrame_

std::string cl_nav2z::CbWaitTransform::referenceFrame_

protected

Definition at line 55 of file cb_wait_transform.hpp.

Referenced by onEntry().

◆ result_

std::optional<tf2::Stamped<tf2::Transform> > cl_nav2z::CbWaitTransform::result_

protected

Definition at line 58 of file cb_wait_transform.hpp.

Referenced by onEntry().

◆ targetFrame_

std::string cl_nav2z::CbWaitTransform::targetFrame_

protected

Definition at line 54 of file cb_wait_transform.hpp.

Referenced by onEntry().

◆ tfBuffer_

std::shared_ptr<tf2_ros::Buffer> cl_nav2z::CbWaitTransform::tfBuffer_

protected

Definition at line 51 of file cb_wait_transform.hpp.

Referenced by onEntry().

◆ tfListener_

std::shared_ptr<tf2_ros::TransformListener> cl_nav2z::CbWaitTransform::tfListener_

protected

Definition at line 52 of file cb_wait_transform.hpp.

Referenced by onEntry().

◆ timeout_

rclcpp::Duration cl_nav2z::CbWaitTransform::timeout_

protected

Definition at line 56 of file cb_wait_transform.hpp.

Referenced by onEntry().

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_transform.hpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_wait_transform.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbWaitTransform()

◆ ~CbWaitTransform()

Member Function Documentation

◆ onEntry()

◆ onOrthogonalAllocation()

Member Data Documentation

◆ referenceFrame_

◆ result_

◆ targetFrame_

◆ tfBuffer_

◆ tfListener_

◆ timeout_