Client behavior that detaches the currently attached collision object. More...

#include <cb_detach_object.hpp>

Inheritance diagram for cl_moveit2z::CbDetachObject:

Collaboration diagram for cl_moveit2z::CbDetachObject:

Public Member Functions
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
	Called when the behavior is entered.

void	onEntry () override

void	onExit () override
	Called when the behavior is exited.

Public Member Functions inherited from cl_moveit2z::CbMoveit2zClientBehaviorBase
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

virtual	~CbMoveit2zClientBehaviorBase ()

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

virtual	~SmaccAsyncClientBehavior ()

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallback callback, T *object)

void	requestForceFinish ()

void	executeOnEntry () override

void	executeOnExit () override

void	waitOnEntryThread (bool requestFinish)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	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, ComponentRequirement requirementType=ComponentRequirement::SOFT)

template<typename SmaccComponentType >
void	requiresComponent (std::string name, SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

Private Attributes
cl_moveit2z::CpGraspingComponent *	graspingComponent_ = nullptr

Additional Inherited Members
Protected Member Functions inherited from cl_moveit2z::CbMoveit2zClientBehaviorBase
void	postMotionSuccess ()

void	postMotionFailure ()

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

Protected Attributes inherited from cl_moveit2z::CbMoveit2zClientBehaviorBase
CpMoveGroupInterface *	cpMoveGroup_ = nullptr

CpMotionPlanner *	cpMotionPlanner_ = nullptr

CpTrajectoryExecutor *	cpTrajectoryExecutor_ = nullptr

CpTrajectoryHistory *	cpTrajectoryHistory_ = nullptr

Detailed Description

Client behavior that detaches the currently attached collision object.

This behavior detaches whatever object is currently attached to the robot's gripper (tracked in CpGraspingComponent::currentAttachedObjectName) and removes it from the planning scene. Posts success or failure event based on the detach operation result.

Definition at line 39 of file cb_detach_object.hpp.

Member Function Documentation

◆ onEntry()

void cl_moveit2z::CbDetachObject::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 55 of file cb_detach_object.hpp.

  {
    // components resolved in onStateOrthogonalAllocation
    auto * graspingComponent = graspingComponent_;
    auto * cpMoveGroup = cpMoveGroup_;
 
    if (graspingComponent->currentAttachedObjectName)
    {
      RCLCPP_INFO_STREAM(
        getLogger(),
        "[CbDetachObject] Detaching object: " << *(graspingComponent->currentAttachedObjectName));
 
      auto & planningSceneInterface = cpMoveGroup->planningSceneInterface;
      auto res = cpMoveGroup->moveGroupClientInterface->detachObject(
        *(graspingComponent->currentAttachedObjectName));
 
      planningSceneInterface->removeCollisionObjects(
        {*(graspingComponent->currentAttachedObjectName)});
 
      if (res)
      {
        RCLCPP_INFO(getLogger(), "[CbDetachObject] Detach succeeded");
        this->postSuccessEvent();
      }
      else
      {
        RCLCPP_ERROR(getLogger(), "[CbDetachObject] Detach failed");
        this->postFailureEvent();
      }
    }
    else
    {
      RCLCPP_ERROR(getLogger(), "[CbDetachObject] No object currently attached");
      this->postFailureEvent();
    }
  }

References cl_moveit2z::CbMoveit2zClientBehaviorBase::cpMoveGroup_, smacc2::ISmaccClientBehavior::getLogger(), graspingComponent_, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), and smacc2::SmaccAsyncClientBehavior::postSuccessEvent().

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◆ onExit()

void cl_moveit2z::CbDetachObject::onExit ( )

inlineoverridevirtual

Called when the behavior is exited.

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 95 of file cb_detach_object.hpp.

95{}

◆ onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_moveit2z::CbDetachObject::onStateOrthogonalAllocation ( )

inline

Called when the behavior is entered.

Retrieves the currently attached object name from CpGraspingComponent, detaches it from the gripper, and removes it from the planning scene.

Definition at line 49 of file cb_detach_object.hpp.

  {
    this->requiresComponent(graspingComponent_, smacc2::ComponentRequirement::HARD);
    CbMoveit2zClientBehaviorBase::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References graspingComponent_, smacc2::HARD, cl_moveit2z::CbMoveit2zClientBehaviorBase::onStateOrthogonalAllocation(), and smacc2::ISmaccClientBehavior::requiresComponent().

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Member Data Documentation

◆ graspingComponent_

cl_moveit2z::CpGraspingComponent* cl_moveit2z::CbDetachObject::graspingComponent_ = nullptr

private

Definition at line 98 of file cb_detach_object.hpp.

Referenced by onEntry(), and onStateOrthogonalAllocation().

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

smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_detach_object.hpp

Public Member Functions

Private Attributes