#include <cl_nav2z.hpp>

Inheritance diagram for cl_nav2z::ClNav2Z:

Collaboration diagram for cl_nav2z::ClNav2Z:

Public Types
typedef smacc2::SmaccSignal< void(const WrappedResult &)>	SmaccNavigateResultSignal

Public Types inherited from smacc2::client_bases::SmaccActionClientBase< nav2_msgs::action::NavigateToPose >
typedef rclcpp_action::Client< nav2_msgs::action::NavigateToPose >	ActionClient

using	Goal

using	Feedback

using	GoalHandle

typedef GoalHandle::WrappedResult	WrappedResult

using	SendGoalOptions

using	GoalResponseCallback

using	FeedbackCallback

using	ResultCallback

using	CancelRequest

using	CancelResponse

using	CancelCallback

typedef smacc2::SmaccSignal< void(const WrappedResult &)>	SmaccActionResultSignal

Public Member Functions
	ClNav2Z (std::string actionServerName="/navigate_to_pose")

virtual	~ClNav2Z ()=default

template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()

	ClNav2Z (std::string navigateToPoseAction="/navigate_to_pose")

virtual	~ClNav2Z ()

Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()

virtual	~ISmaccClient ()

template<typename TComponent >
TComponent *	getComponent ()

template<typename TComponent >
TComponent *	getComponent (std::string name)

template<typename TComponent >
TComponent *	getComponent (int index)

virtual smacc2::introspection::TypeInfo::Ptr	getType ()

ISmaccStateMachine *	getStateMachine ()

template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::callback)(), T object)

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)

const std::vector< std::shared_ptr< ISmaccComponent > > &	iterateComponents () const

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

Public Member Functions inherited from smacc2::client_bases::SmaccActionClientBase< nav2_msgs::action::NavigateToPose >
	SmaccActionClientBase (std::string actionServerName)

	SmaccActionClientBase ()

virtual	~SmaccActionClientBase ()

virtual std::shared_ptr< rclcpp_action::ClientBase >	getClientBase () override

void	onInitialize () override

void	waitForServer ()

void	postResultEvent (WrappedResult &)

void	onOrthogonalAllocation ()

boost::signals2::connection	onSucceeded (void(T::callback)(WrappedResult &), T object)

boost::signals2::connection	onSucceeded (std::function< void(WrappedResult &)> callback)

boost::signals2::connection	onAborted (void(T::callback)(WrappedResult &), T object)

boost::signals2::connection	onAborted (std::function< void(WrappedResult &)> callback)

boost::signals2::connection	onCancelled (void(T::callback)(WrappedResult &), T object)

boost::signals2::connection	onCancelled (std::function< void(WrappedResult &)> callback)

virtual bool	cancelGoal () override

std::shared_future< typename GoalHandle::SharedPtr >	sendGoal (Goal &goal, typename SmaccActionResultSignal::WeakPtr resultCallback=typename SmaccActionResultSignal::WeakPtr())

Public Member Functions inherited from smacc2::client_bases::ISmaccActionClient
	ISmaccActionClient ()

virtual	~ISmaccActionClient ()

std::string	getNamespace () const

virtual std::string	getName () const

Private Attributes
std::string	actionServerName_

Additional Inherited Members
Static Public Member Functions inherited from smacc2::client_bases::SmaccActionClientBase< nav2_msgs::action::NavigateToPose >
static std::string	getEventLabel ()

Public Attributes inherited from smacc2::client_bases::SmaccActionClientBase< nav2_msgs::action::NavigateToPose >
std::string	action_endpoint_

std::optional< std::shared_future< typename GoalHandle::SharedPtr > >	lastRequest_

std::optional< std::shared_future< typename CancelResponse::SharedPtr > >	lastCancelResponse_

SmaccActionResultSignal	onSucceeded_

SmaccActionResultSignal	onAborted_

SmaccActionResultSignal	onCancelled_

std::function< void(WrappedResult)>	postSuccessEvent

std::function< void(WrappedResult)>	postAbortedEvent

std::function< void(WrappedResult)>	postCancelledEvent

std::function< void(const Feedback &)>	postFeedbackEvent

FeedbackCallback	feedback_cb

Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)

rclcpp::Node::SharedPtr	getNode ()

rclcpp::Logger	getLogger ()

Protected Member Functions inherited from smacc2::client_bases::SmaccActionClientBase< nav2_msgs::action::NavigateToPose >
void	onFeedback (typename GoalHandle::SharedPtr, const std::shared_ptr< const Feedback > feedback_msg)

void	onResult (const WrappedResult &result_msg)

Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Protected Attributes inherited from smacc2::client_bases::SmaccActionClientBase< nav2_msgs::action::NavigateToPose >
ActionClient::SharedPtr	client_

Protected Attributes inherited from smacc2::client_bases::ISmaccActionClient
std::string	name_

Detailed Description

Definition at line 23 of file nav2z_client.hpp.

Member Typedef Documentation

◆ SmaccNavigateResultSignal

smacc2::SmaccSignal<void(const WrappedResult &)> cl_nav2z::ClNav2Z::SmaccNavigateResultSignal

Definition at line 33 of file nav2z_client.hpp.

Constructor & Destructor Documentation

◆ ClNav2Z() [1/2]

cl_nav2z::ClNav2Z::ClNav2Z ( std::string actionServerName = "/navigate_to_pose" )

inline

Definition at line 31 of file cl_nav2z.hpp.

                                                            : actionServerName_(actionServerName)
  {
  }

◆ ~ClNav2Z() [1/2]

cl_nav2z::ClNav2Z::~ClNav2Z ( )

virtualdefault

Definition at line 32 of file nav2z_client.cpp.

32{}

◆ ClNav2Z() [2/2]

cl_nav2z::ClNav2Z::ClNav2Z ( std::string navigateToPoseAction = "/navigate_to_pose" )

◆ ~ClNav2Z() [2/2]

virtual cl_nav2z::ClNav2Z::~ClNav2Z ( )

virtual

Member Function Documentation

◆ onComponentInitialization()

template<typename TOrthogonal , typename TClient >

void cl_nav2z::ClNav2Z::onComponentInitialization ( )

inline

Definition at line 39 of file cl_nav2z.hpp.

  {
    // Create core action client component
    auto actionClient = this->createComponent<
      smacc2::client_core_components::CpActionClient<nav2_msgs::action::NavigateToPose>,
      TOrthogonal, ClNav2Z>(actionServerName_);
 
    // Create nav2-specific interface component (requires actionClient)
    this->createComponent<components::CpNav2ActionInterface, TOrthogonal, ClNav2Z>();
 
    RCLCPP_INFO_STREAM(
      this->getLogger(), "[ClNav2Z] Components created for action server: " << actionServerName_);
  }

References actionServerName_, smacc2::ISmaccClient::createComponent(), and smacc2::ISmaccClient::getLogger().

Here is the call graph for this function:

Member Data Documentation

◆ actionServerName_

std::string cl_nav2z::ClNav2Z::actionServerName_

private

Definition at line 54 of file cl_nav2z.hpp.

Referenced by onComponentInitialization().

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

smacc2_client_library/cl_nav2z/include/cl_nav2z/cl_nav2z.hpp
smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/nav2z_client.hpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/nav2z_client.cpp

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members