#include <cb_spiral_motion.hpp>

Inheritance diagram for cl_nav2z::CbSpiralMotion:

Collaboration diagram for cl_nav2z::CbSpiralMotion:

Public Member Functions
	CbSpiralMotion (std::optional< CbSpiralMotionOptions > options=std::nullopt)

void	onEntry () override

void	onExit () override

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

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

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)

Private Attributes
rclcpp::Publisher< geometry_msgs::msg::Twist >::SharedPtr	cmdVelPub_

CbSpiralMotionOptions	options_

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 43 of file cb_spiral_motion.hpp.

Constructor & Destructor Documentation

◆ CbSpiralMotion()

cl_nav2z::CbSpiralMotion::CbSpiralMotion ( std::optional< CbSpiralMotionOptions > options = std::nullopt )

Definition at line 30 of file cb_spiral_motion.cpp.

{
  if (options)
  {
    options_ = *options;
  }
  else
  {
    // we use default options
    options_ = CbSpiralMotionOptions();
  }
}

References options_.

Member Function Documentation

◆ onEntry()

void cl_nav2z::CbSpiralMotion::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 43 of file cb_spiral_motion.cpp.

{
  /*
 struct CbSpiralMotionOptions
{
  std::optional<float> linearVelocity = 0.0f;
  std::optional<float> maxLinearVelocity = 1.0f;
  std::optional<float> initialAngularVelocity = 1.0f;
  std::optional<rclcpp::Duration> spiralMotionDuration = rclcpp::Duration::from_seconds(120);
  std::optional <float> finalRadius=10.0f;//meters
};
   */
 
  auto linearVelocity = *(options_.linearVelocity);
  auto maxLinearVelocity = *(options_.maxLinearVelocity);
  auto initialAngularVelocity = *(options_.initialAngularVelocity);
  auto spiralMotionDuration = *(options_.spiralMotionDuration);
  auto finalRadius = *(options_.finalRadius);
 
  float rate = 20.0f;
  rclcpp::Rate r(rate);
  cmdVelPub_ = getNode()->create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", rclcpp::QoS(1));
 
  rclcpp::Duration linearRamp = rclcpp::Duration::from_seconds(spiralMotionDuration.seconds());
  float linearAceleration = (maxLinearVelocity - linearVelocity) / linearRamp.seconds();
  float dt = 1.0f / rate;
 
  // we know final radious and the constant linear velocity
  float finalAngularVelocity = maxLinearVelocity / finalRadius;
 
  float angularAcceleration =
    (initialAngularVelocity - finalAngularVelocity) / spiralMotionDuration.seconds();
 
  geometry_msgs::msg::Twist cmd_vel;
 
  cmd_vel.linear.x = linearVelocity;
  cmd_vel.angular.z = initialAngularVelocity;
  auto start_time = getNode()->now();
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[CbSpiralMotion]: initialAngularVelocity: "
                   << initialAngularVelocity << ", finalAngularVelocity: " << finalAngularVelocity
                   << ", angularAcceleration: " << angularAcceleration);
  RCLCPP_INFO_STREAM(
    getLogger(), "[CbSpiralMotion]: linearAceleration: "
                   << linearAceleration << ", maxLinearVelocity: " << maxLinearVelocity);
 
  bool end_condition = false;
 
  while (!end_condition)
  {
    auto current_time = getNode()->now() - start_time;
 
    cmd_vel.linear.x += linearAceleration * dt;
    if (cmd_vel.linear.x > maxLinearVelocity)
    {
      cmd_vel.linear.x = maxLinearVelocity;
    }
 
    float signVal = (cmd_vel.angular.z >= 0.0f) ? 1.0f : -1.0f;
    // cmd_vel.angular.z -= signVal * angularAcceleration * dt;
 
    float ellapsedTimeFactor = current_time.seconds() / spiralMotionDuration.seconds();
    cmd_vel.angular.z = initialAngularVelocity * (1.0f - ellapsedTimeFactor) +
                        finalAngularVelocity * ellapsedTimeFactor;
 
    RCLCPP_INFO(
      getLogger(), "[CbSpiralMotion] cmd_vel.linear.x = %f, cmd_vel.angular.z = %f",
      cmd_vel.linear.x, cmd_vel.angular.z);
 
    cmdVelPub_->publish(cmd_vel);
    r.sleep();
 
    auto now = getNode()->now();
 
    rclcpp::Duration ellapsed = now - start_time;
    RCLCPP_INFO_STREAM(
      getLogger(), "[CbSpiralMotion] ellapsed time: " << ellapsed.seconds() << ", total duration: "
                                                      << spiralMotionDuration.seconds());
    if (ellapsed > spiralMotionDuration)
    {
      RCLCPP_INFO_STREAM(getLogger(), "[CbSpiralMotion] spiralMotionDuration reached");
      end_condition = true;
    }
  }
 
  // asynchronous client behaviors usually post a success event when they are done
  // that is used in states to transition to the next state
  this->postSuccessEvent();
}

References cmdVelPub_, cl_nav2z::CbSpiralMotionOptions::finalRadius, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), cl_nav2z::CbSpiralMotionOptions::initialAngularVelocity, cl_nav2z::CbSpiralMotionOptions::linearVelocity, cl_nav2z::CbSpiralMotionOptions::maxLinearVelocity, options_, smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and cl_nav2z::CbSpiralMotionOptions::spiralMotionDuration.

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◆ onExit()

void cl_nav2z::CbSpiralMotion::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 134 of file cb_spiral_motion.cpp.

134{}

Member Data Documentation

◆ cmdVelPub_

rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cl_nav2z::CbSpiralMotion::cmdVelPub_

private

Definition at line 56 of file cb_spiral_motion.hpp.

Referenced by onEntry().

◆ options_

CbSpiralMotionOptions cl_nav2z::CbSpiralMotion::options_

private

Definition at line 59 of file cb_spiral_motion.hpp.

Referenced by CbSpiralMotion(), and onEntry().

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

smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_spiral_motion.hpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_spiral_motion.cpp

Public Member Functions

Private Attributes

Additional Inherited Members