#include <cb_move_joints.hpp>

Inheritance diagram for cl_moveit2z::CbMoveJoints:

Collaboration diagram for cl_moveit2z::CbMoveJoints:

Public Member Functions
	CbMoveJoints ()

	CbMoveJoints (const std::map< std::string, double > &jointValueTarget)

virtual void	onEntry () override

virtual void	onExit () override

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
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, ComponentRequirement requirementType=ComponentRequirement::SOFT)

Public Attributes
std::optional< double >	scalingFactor_

std::map< std::string, double >	jointValueTarget_

std::optional< std::string >	group_

Protected Member Functions
void	moveJoints (moveit::planning_interface::MoveGroupInterface &moveGroupInterface)

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

Static Protected Member Functions
static std::string	currentJointStatesToString (moveit::planning_interface::MoveGroupInterface &moveGroupInterface, std::map< std::string, double > &targetJoints)

Protected Attributes
ClMoveit2z *	movegroupClient_

Detailed Description

Definition at line 36 of file cb_move_joints.hpp.

Constructor & Destructor Documentation

◆ CbMoveJoints() [1/2]

cl_moveit2z::CbMoveJoints::CbMoveJoints ( )

inline

Definition at line 43 of file cb_move_joints.hpp.

43{}

◆ CbMoveJoints() [2/2]

cl_moveit2z::CbMoveJoints::CbMoveJoints ( const std::map< std::string, double > & jointValueTarget )

inline

Definition at line 45 of file cb_move_joints.hpp.

  : jointValueTarget_(jointValueTarget)
  {
  }

Member Function Documentation

◆ currentJointStatesToString()

static std::string cl_moveit2z::CbMoveJoints::currentJointStatesToString	(	moveit::planning_interface::MoveGroupInterface &	moveGroupInterface,
		std::map< std::string, double > &	targetJoints )

inlinestaticprotected

Definition at line 69 of file cb_move_joints.hpp.

  {
    auto state = moveGroupInterface.getCurrentState();
 
    if (state == nullptr) return std::string();
 
    auto vnames = state->getVariableNames();
 
    std::stringstream ss;
 
    for (auto & tgj : targetJoints)
    {
      auto it = std::find(vnames.begin(), vnames.end(), tgj.first);
      auto index = std::distance(vnames.begin(), it);
 
      ss << tgj.first << ":" << state->getVariablePosition(index) << std::endl;
    }
 
    return ss.str();
  }

Referenced by moveJoints().

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◆ moveJoints()

void cl_moveit2z::CbMoveJoints::moveJoints ( moveit::planning_interface::MoveGroupInterface & moveGroupInterface )

inlineprotected

Definition at line 92 of file cb_move_joints.hpp.

  {
    if (jointValueTarget_.size() == 0)
    {
      RCLCPP_WARN(getLogger(), "[CbMoveJoints] No joint value specified. Skipping planning call.");
      movegroupClient_->postEventMotionExecutionFailed();
      this->postFailureEvent();
      return;
    }
 
    // Try to use CpMotionPlanner component (preferred)
    CpMotionPlanner * motionPlanner = nullptr;
    this->requiresComponent(
      motionPlanner, smacc2::ComponentRequirement::SOFT);  // Optional component
 
    bool success = false;
    moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan;
 
    if (motionPlanner != nullptr)
    {
      // Use component-based motion planner (preferred)
      RCLCPP_INFO(getLogger(), "[CbMoveJoints] Using CpMotionPlanner component for joint planning");
 
      PlanningOptions options;
      if (scalingFactor_)
      {
        options.maxVelocityScaling = *scalingFactor_;
      }
 
      auto result = motionPlanner->planToJointTarget(jointValueTarget_, options);
 
      success = result.success;
      if (success)
      {
        computedMotionPlan = result.plan;
        RCLCPP_INFO(getLogger(), "[CbMoveJoints] Planning succeeded (via CpMotionPlanner)");
      }
      else
      {
        RCLCPP_WARN(
          getLogger(), "[CbMoveJoints] Planning failed (via CpMotionPlanner): %s",
          result.errorMessage.c_str());
      }
    }
    else
    {
      // Fallback to legacy direct API calls
      RCLCPP_WARN(
        getLogger(),
        "[CbMoveJoints] CpMotionPlanner component not available, using legacy planning "
        "(consider adding CpMotionPlanner component)");
 
      if (scalingFactor_) moveGroupInterface.setMaxVelocityScalingFactor(*scalingFactor_);
 
      moveGroupInterface.setJointValueTarget(jointValueTarget_);
 
      auto result = moveGroupInterface.plan(computedMotionPlan);
 
      success = (result == moveit::core::MoveItErrorCode::SUCCESS);
 
      RCLCPP_INFO(
        getLogger(), "[CbMoveJoints] Planning %s (legacy mode, code: %d)",
        success ? "SUCCESS" : "FAILED", result.val);
    }
 
    // Execution
    if (success)
    {
      // Try to use CpTrajectoryExecutor component (preferred)
      CpTrajectoryExecutor * trajectoryExecutor = nullptr;
      this->requiresComponent(
        trajectoryExecutor, smacc2::ComponentRequirement::SOFT);  // Optional component
 
      bool executionSuccess = false;
 
      if (trajectoryExecutor != nullptr)
      {
        // Use component-based trajectory executor (preferred)
        RCLCPP_INFO(
          getLogger(), "[CbMoveJoints] Using CpTrajectoryExecutor component for execution");
 
        ExecutionOptions execOptions;
        execOptions.trajectoryName = this->getName();
        if (scalingFactor_)
        {
          execOptions.maxVelocityScaling = *scalingFactor_;
        }
 
        auto execResult = trajectoryExecutor->executePlan(computedMotionPlan, execOptions);
        executionSuccess = execResult.success;
 
        if (executionSuccess)
        {
          RCLCPP_INFO(getLogger(), "[CbMoveJoints] Execution succeeded (via CpTrajectoryExecutor)");
        }
        else
        {
          RCLCPP_WARN(
            getLogger(), "[CbMoveJoints] Execution failed (via CpTrajectoryExecutor): %s",
            execResult.errorMessage.c_str());
        }
      }
      else
      {
        // Fallback to legacy direct execution
        RCLCPP_WARN(
          getLogger(),
          "[CbMoveJoints] CpTrajectoryExecutor component not available, using legacy execution "
          "(consider adding CpTrajectoryExecutor component)");
 
        auto executionResult = moveGroupInterface.execute(computedMotionPlan);
        executionSuccess = (executionResult == moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
 
        RCLCPP_INFO(
          getLogger(), "[CbMoveJoints] Execution %s (legacy mode)",
          executionSuccess ? "succeeded" : "failed");
      }
 
      // Post events
      if (executionSuccess)
      {
        RCLCPP_INFO_STREAM(
          getLogger(),
          "[" << this->getName() << "] motion execution succeeded. Throwing success event.");
        movegroupClient_->postEventMotionExecutionSucceded();
        this->postSuccessEvent();
      }
      else
      {
        RCLCPP_WARN_STREAM(
          getLogger(), "[" << this->getName() << "] motion execution failed. Throwing fail event.");
        movegroupClient_->postEventMotionExecutionFailed();
        this->postFailureEvent();
      }
    }
    else
    {
      auto statestr = currentJointStatesToString(moveGroupInterface, jointValueTarget_);
      RCLCPP_WARN_STREAM(
        getLogger(), "[" << this->getName() << "] planning failed. Throwing fail event."
                         << std::endl
                         << statestr);
      movegroupClient_->postEventMotionExecutionFailed();
      this->postFailureEvent();
    }
  }

References currentJointStatesToString(), cl_moveit2z::CpTrajectoryExecutor::executePlan(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), jointValueTarget_, cl_moveit2z::ExecutionOptions::maxVelocityScaling, cl_moveit2z::PlanningOptions::maxVelocityScaling, movegroupClient_, cl_moveit2z::CpMotionPlanner::planToJointTarget(), cl_moveit2z::ClMoveit2z::postEventMotionExecutionFailed(), cl_moveit2z::ClMoveit2z::postEventMotionExecutionSucceded(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::ISmaccClientBehavior::requiresComponent(), scalingFactor_, smacc2::SOFT, and cl_moveit2z::ExecutionOptions::trajectoryName.

Referenced by onEntry().

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◆ onEntry()

virtual void cl_moveit2z::CbMoveJoints::onEntry ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_moveit2z::CbMoveKnownState.

Definition at line 50 of file cb_move_joints.hpp.

  {
    this->requiresClient(movegroupClient_);
 
    if (this->group_)
    {
      moveit::planning_interface::MoveGroupInterface move_group(
        getNode(), moveit::planning_interface::MoveGroupInterface::Options(*(this->group_)));
      this->moveJoints(move_group);
    }
    else
    {
      this->moveJoints(*movegroupClient_->moveGroupClientInterface);
    }
  }

References smacc2::ISmaccClientBehavior::getNode(), movegroupClient_, cl_moveit2z::ClMoveit2z::moveGroupClientInterface, moveJoints(), and smacc2::ISmaccClientBehavior::requiresClient().

Referenced by cl_moveit2z::CbMoveKnownState::onEntry().

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◆ onExit()

virtual void cl_moveit2z::CbMoveJoints::onExit ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 66 of file cb_move_joints.hpp.

66{}

Member Data Documentation

◆ group_

std::optional<std::string> cl_moveit2z::CbMoveJoints::group_

Definition at line 41 of file cb_move_joints.hpp.

◆ jointValueTarget_

std::map<std::string, double> cl_moveit2z::CbMoveJoints::jointValueTarget_

Definition at line 40 of file cb_move_joints.hpp.

Referenced by moveJoints(), and cl_moveit2z::CbMoveKnownState::onEntry().

◆ movegroupClient_

ClMoveit2z* cl_moveit2z::CbMoveJoints::movegroupClient_

protected

Definition at line 239 of file cb_move_joints.hpp.

Referenced by moveJoints(), and onEntry().

◆ scalingFactor_

std::optional<double> cl_moveit2z::CbMoveJoints::scalingFactor_

Definition at line 39 of file cb_move_joints.hpp.

Referenced by moveJoints().

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

smacc2_client_library/cl_moveit2z/include/cl_moveit2z/client_behaviors/cb_move_joints.hpp

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CbMoveJoints() [1/2]

◆ CbMoveJoints() [2/2]

Member Function Documentation

◆ currentJointStatesToString()

◆ moveJoints()

◆ onEntry()

◆ onExit()

Member Data Documentation

◆ group_

◆ jointValueTarget_

◆ movegroupClient_

◆ scalingFactor_