cl_foundation_pose::CbTrackObjectPose Class Reference

#include <cb_track_object_pose.hpp>

Inheritance diagram for cl_foundation_pose::CbTrackObjectPose:

Collaboration diagram for cl_foundation_pose::CbTrackObjectPose:

Public Member Functions
	CbTrackObjectPose (std::string objectToTrackId, std::string globalFrame="map")
virtual	~CbTrackObjectPose ()
virtual void	onEntry () override
virtual void	onExit () override
virtual void	update () override
Public Member Functions inherited from smacc2::SmaccClientBehavior
virtual	~SmaccClientBehavior ()
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, ComponentRequirement requirementType=ComponentRequirement::SOFT)
virtual void	executeOnEntry ()
virtual void	executeOnExit ()
Public Member Functions inherited from smacc2::ISmaccUpdatable
	ISmaccUpdatable ()
	ISmaccUpdatable (rclcpp::Duration duration)
void	executeUpdate (rclcpp::Node::SharedPtr node)
void	setUpdatePeriod (rclcpp::Duration duration)

Private Attributes
std::string	globalFrame_
std::string	objectToTrackId_
cl_foundation_pose::CpObjectTrackerTf *	objectTracker_ = nullptr

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
Protected Member Functions inherited from smacc2::ISmaccUpdatable

Detailed Description

Definition at line 28 of file cb_track_object_pose.hpp.

Constructor & Destructor Documentation

CbTrackObjectPose()

cl_foundation_pose::CbTrackObjectPose::CbTrackObjectPose ( std::string objectToTrackId, std::string globalFrame = "map" )

inline

Definition at line 36 of file cb_track_object_pose.hpp.

  : globalFrame_(globalFrame), objectToTrackId_(objectToTrackId)
  {
  }

~CbTrackObjectPose()

virtual cl_foundation_pose::CbTrackObjectPose::~CbTrackObjectPose ( )

inlinevirtual

Definition at line 41 of file cb_track_object_pose.hpp.

{}

Member Function Documentation

onEntry()

virtual void cl_foundation_pose::CbTrackObjectPose::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 43 of file cb_track_object_pose.hpp.

  {
    requiresComponent(objectTracker_, true);
    RCLCPP_INFO(getLogger(), "CbTrackObjectPose onEntry");
    RCLCPP_INFO(getLogger(), "CbTrackObjectPose onEntry - enabled");
    objectTracker_->setEnabled(true);
    RCLCPP_INFO(
      getLogger(),
      "CbTrackObjectPose onEntry - updateAndGetGlobalPose, objectToTrackId: %s, globalFrame: %s",
      objectToTrackId_.c_str(), globalFrame_.c_str());
    objectTracker_->updateAndGetGlobalPose(objectToTrackId_, globalFrame_);
  }

References smacc2::ISmaccClientBehavior::getLogger(), globalFrame_, objectToTrackId_, objectTracker_, smacc2::ISmaccClientBehavior::requiresComponent(), cl_foundation_pose::CpObjectTrackerTf::setEnabled(), and cl_foundation_pose::CpObjectTrackerTf::updateAndGetGlobalPose().

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onExit()

virtual void cl_foundation_pose::CbTrackObjectPose::onExit ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 56 of file cb_track_object_pose.hpp.

{ objectTracker_->setEnabled(false); }

References objectTracker_, and cl_foundation_pose::CpObjectTrackerTf::setEnabled().

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update()

virtual void cl_foundation_pose::CbTrackObjectPose::update ( )

inlineoverridevirtual

Implements smacc2::ISmaccUpdatable.

Definition at line 58 of file cb_track_object_pose.hpp.

  {
    if (objectTracker_ != nullptr && objectTracker_->isEnabled())
    {
      RCLCPP_INFO(getLogger(), "CbTrackObjectPose update");
      objectTracker_->updateAndGetGlobalPose(objectToTrackId_, globalFrame_);
    }
  }

References smacc2::ISmaccClientBehavior::getLogger(), globalFrame_, cl_foundation_pose::CpObjectTrackerTf::isEnabled(), objectToTrackId_, objectTracker_, and cl_foundation_pose::CpObjectTrackerTf::updateAndGetGlobalPose().

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Member Data Documentation

globalFrame_

std::string cl_foundation_pose::CbTrackObjectPose::globalFrame_

private

Definition at line 31 of file cb_track_object_pose.hpp.

Referenced by onEntry(), and update().

objectToTrackId_

std::string cl_foundation_pose::CbTrackObjectPose::objectToTrackId_

private

Definition at line 32 of file cb_track_object_pose.hpp.

Referenced by onEntry(), and update().

objectTracker_

cl_foundation_pose::CpObjectTrackerTf* cl_foundation_pose::CbTrackObjectPose::objectTracker_ = nullptr

private

Definition at line 33 of file cb_track_object_pose.hpp.

Referenced by onEntry(), onExit(), and update().

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

• smacc2_client_library/cl_foundation_pose/include/cl_foundation_pose/client_behaviors/cb_track_object_pose.hpp