cl_moveit2z::ClMoveit2z Class Reference

#include <cl_moveit2z.hpp>

Inheritance diagram for cl_moveit2z::ClMoveit2z:

Collaboration diagram for cl_moveit2z::ClMoveit2z:

Public Member Functions
	ClMoveit2z (std::string groupName)
	ClMoveit2z (const moveit::planning_interface::MoveGroupInterface::Options &options)
virtual	~ClMoveit2z ()
void	onInitialize () override
void	postEventMotionExecutionSucceded ()
void	postEventMotionExecutionFailed ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename TCallback , typename T >
boost::signals2::connection	onMotionExecutionSuccedded (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onMotionExecutionFailed (TCallback callback, T *object)
const moveit::planning_interface::MoveGroupInterface::Options &	getOptions () const
Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()
virtual	~ISmaccClient ()
virtual std::string	getName () const
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 Attributes
std::shared_ptr< moveit::planning_interface::MoveGroupInterface >	moveGroupClientInterface
std::shared_ptr< moveit::planning_interface::PlanningSceneInterface >	planningSceneInterface

Private Attributes
std::function< void()>	postEventMotionExecutionSucceded_
std::function< void()>	postEventMotionExecutionFailed_
smacc2::SmaccSignal< void()>	onSucceded_
smacc2::SmaccSignal< void()>	onFailed_
moveit::planning_interface::MoveGroupInterface::Options	options_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()
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 Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Detailed Description

Definition at line 78 of file cl_moveit2z.hpp.

Constructor & Destructor Documentation

ClMoveit2z() [1/2]

cl_moveit2z::ClMoveit2z::ClMoveit2z

(

std::string

groupName

)

Definition at line 26 of file cl_moveit2z.cpp.

: options_(groupName) {}

ClMoveit2z() [2/2]

cl_moveit2z::ClMoveit2z::ClMoveit2z

(

const moveit::planning_interface::MoveGroupInterface::Options &

options

)

Definition at line 28 of file cl_moveit2z.cpp.

: options_(options)
{
}

~ClMoveit2z()

cl_moveit2z::ClMoveit2z::~ClMoveit2z ( )

virtual

Definition at line 34 of file cl_moveit2z.cpp.

{}

Member Function Documentation

getOptions()

const moveit::planning_interface::MoveGroupInterface::Options & cl_moveit2z::ClMoveit2z::getOptions ( ) const

inline

Definition at line 142 of file cl_moveit2z.hpp.

  {
    return options_;
  }

References options_.

onInitialize()

void cl_moveit2z::ClMoveit2z::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClient.

Definition at line 94 of file cl_moveit2z.hpp.

  {
    moveGroupClientInterface =
      std::make_shared<moveit::planning_interface::MoveGroupInterface>(getNode(), options_);
    planningSceneInterface = std::make_shared<moveit::planning_interface::PlanningSceneInterface>(
      options_.move_group_namespace);
  }

References smacc2::ISmaccClient::getNode(), moveGroupClientInterface, options_, and planningSceneInterface.

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onMotionExecutionFailed()

template<typename TCallback , typename T >

boost::signals2::connection cl_moveit2z::ClMoveit2z::onMotionExecutionFailed ( TCallback callback, T * object )

inline

Definition at line 137 of file cl_moveit2z.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onFailed_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClient::getStateMachine(), and onFailed_.

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onMotionExecutionSuccedded()

template<typename TCallback , typename T >

boost::signals2::connection cl_moveit2z::ClMoveit2z::onMotionExecutionSuccedded ( TCallback callback, T * object )

inline

Definition at line 131 of file cl_moveit2z.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onSucceded_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClient::getStateMachine(), and onSucceded_.

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onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_moveit2z::ClMoveit2z::onStateOrthogonalAllocation ( )

inline

Definition at line 115 of file cl_moveit2z.hpp.

  {
    postEventMotionExecutionSucceded_ = [=]()
    {
      this->onSucceded_();
      this->postEvent<EvMoveGroupMotionExecutionSucceded<TSourceObject, TOrthogonal>>();
    };
 
    postEventMotionExecutionFailed_ = [=]()
    {
      this->onFailed_();
      this->postEvent<EvMoveGroupMotionExecutionFailed<TSourceObject, TOrthogonal>>();
    };
  }

References onFailed_, onSucceded_, smacc2::ISmaccClient::postEvent(), postEventMotionExecutionFailed_, and postEventMotionExecutionSucceded_.

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postEventMotionExecutionFailed()

void cl_moveit2z::ClMoveit2z::postEventMotionExecutionFailed ( )

inline

Definition at line 108 of file cl_moveit2z.hpp.

  {
    RCLCPP_INFO(getLogger(), "[ClMoveit2z] Post Motion Failure Event");
    postEventMotionExecutionFailed_();
  }

References smacc2::ISmaccClient::getLogger(), and postEventMotionExecutionFailed_.

Referenced by cl_moveit2z::CbMoveJoints::moveJoints(), cl_moveit2z::CbMoveEndEffector::moveToAbsolutePose(), cl_moveit2z::CbMoveEndEffectorTrajectory::onEntry(), and cl_moveit2z::CbMoveEndEffectorTrajectory::onStateOrthogonalAllocation().

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postEventMotionExecutionSucceded()

void cl_moveit2z::ClMoveit2z::postEventMotionExecutionSucceded ( )

inline

Definition at line 102 of file cl_moveit2z.hpp.

  {
    RCLCPP_INFO(getLogger(), "[ClMoveit2z] Post Motion Success Event");
    postEventMotionExecutionSucceded_();
  }

References smacc2::ISmaccClient::getLogger(), and postEventMotionExecutionSucceded_.

Referenced by cl_moveit2z::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_moveit2z::CbMoveJoints::moveJoints(), and cl_moveit2z::CbMoveEndEffector::moveToAbsolutePose().

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Member Data Documentation

moveGroupClientInterface

std::shared_ptr<moveit::planning_interface::MoveGroupInterface> cl_moveit2z::ClMoveit2z::moveGroupClientInterface

Definition at line 84 of file cl_moveit2z.hpp.

Referenced by cl_moveit2z::CpTrajectoryExecutor::cancel(), cl_moveit2z::CbCircularPivotMotion::computeCurrentEndEffectorPoseRelativeToPivot(), cl_moveit2z::CbMoveEndEffectorTrajectory::computeJointSpaceTrajectory(), cl_moveit2z::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_moveit2z::CbMoveEndEffectorTrajectory::getCurrentEndEffectorPose(), cl_moveit2z::CpMotionPlanner::getCurrentState(), cl_moveit2z::CbAttachObject::onEntry(), cl_moveit2z::CbDetachObject::onEntry(), cl_moveit2z::CbEndEffectorRotate::onEntry(), cl_moveit2z::CbMoveEndEffector::onEntry(), cl_moveit2z::CbMoveJoints::onEntry(), onInitialize(), and cl_moveit2z::CpMotionPlanner::planCartesianPath().

onFailed_

smacc2::SmaccSignal<void()> cl_moveit2z::ClMoveit2z::onFailed_

private

Definition at line 152 of file cl_moveit2z.hpp.

Referenced by onMotionExecutionFailed(), and onStateOrthogonalAllocation().

onSucceded_

smacc2::SmaccSignal<void()> cl_moveit2z::ClMoveit2z::onSucceded_

private

Definition at line 151 of file cl_moveit2z.hpp.

Referenced by onMotionExecutionSuccedded(), and onStateOrthogonalAllocation().

options_

moveit::planning_interface::MoveGroupInterface::Options cl_moveit2z::ClMoveit2z::options_

private

Definition at line 155 of file cl_moveit2z.hpp.

Referenced by getOptions(), and onInitialize().

planningSceneInterface

std::shared_ptr<moveit::planning_interface::PlanningSceneInterface> cl_moveit2z::ClMoveit2z::planningSceneInterface

Definition at line 86 of file cl_moveit2z.hpp.

Referenced by cl_moveit2z::CbAttachObject::onEntry(), cl_moveit2z::CbDetachObject::onEntry(), and onInitialize().

postEventMotionExecutionFailed_

std::function<void()> cl_moveit2z::ClMoveit2z::postEventMotionExecutionFailed_

private

Definition at line 149 of file cl_moveit2z.hpp.

Referenced by onStateOrthogonalAllocation(), and postEventMotionExecutionFailed().

postEventMotionExecutionSucceded_

std::function<void()> cl_moveit2z::ClMoveit2z::postEventMotionExecutionSucceded_

private

Definition at line 148 of file cl_moveit2z.hpp.

Referenced by onStateOrthogonalAllocation(), and postEventMotionExecutionSucceded().

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

• smacc2_client_library/cl_moveit2z/include/cl_moveit2z/cl_moveit2z.hpp
• smacc2_client_library/cl_moveit2z/src/cl_moveit2z/cl_moveit2z.cpp