cl_moveit2z::CpMoveGroupInterface Class Reference

#include <cp_move_group_interface.hpp>

Inheritance diagram for cl_moveit2z::CpMoveGroupInterface:

Collaboration diagram for cl_moveit2z::CpMoveGroupInterface:

Public Member Functions
	CpMoveGroupInterface (const moveit::planning_interface::MoveGroupInterface::Options &options)
void	onInitialize () override
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
void	postEventMotionExecutionSucceeded ()
void	postEventMotionExecutionFailed ()
template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onMotionExecutionSucceeded (TCallback callback, T *object)
template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onMotionExecutionFailed (TCallback callback, T *object)
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Public Attributes
std::shared_ptr< moveit::planning_interface::MoveGroupInterface >	moveGroupClientInterface
std::shared_ptr< moveit::planning_interface::PlanningSceneInterface >	planningSceneInterface

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

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger () const
ISmaccStateMachine *	getStateMachine ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 46 of file cp_move_group_interface.hpp.

Constructor & Destructor Documentation

CpMoveGroupInterface()

cl_moveit2z::CpMoveGroupInterface::CpMoveGroupInterface ( const moveit::planning_interface::MoveGroupInterface::Options & options )

inlineexplicit

Definition at line 52 of file cp_move_group_interface.hpp.

  : options_(options)
  {
  }

Member Function Documentation

onInitialize()

void cl_moveit2z::CpMoveGroupInterface::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 58 of file cp_move_group_interface.hpp.

  {
    moveGroupClientInterface =
      std::make_shared<moveit::planning_interface::MoveGroupInterface>(getNode(), options_);
    planningSceneInterface = std::make_shared<moveit::planning_interface::PlanningSceneInterface>(
      options_.move_group_namespace);
    RCLCPP_INFO(getLogger(), "[CpMoveGroupInterface] MoveGroupInterface initialized");
  }

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

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onMotionExecutionFailed()

template<typename TCallback , typename T >

smacc2::SmaccSignalConnection cl_moveit2z::CpMoveGroupInterface::onMotionExecutionFailed ( TCallback callback, T * object )

inline

Definition at line 102 of file cp_move_group_interface.hpp.

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

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

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onMotionExecutionSucceeded()

template<typename TCallback , typename T >

smacc2::SmaccSignalConnection cl_moveit2z::CpMoveGroupInterface::onMotionExecutionSucceeded ( TCallback callback, T * object )

inline

Definition at line 96 of file cp_move_group_interface.hpp.

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

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccComponent::getStateMachine(), and onSucceeded_.

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onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_moveit2z::CpMoveGroupInterface::onStateOrthogonalAllocation ( )

inline

Definition at line 68 of file cp_move_group_interface.hpp.

  {
    postEventMotionExecutionSucceeded_ = [=]()
    {
      this->onSucceeded_();
      this->postEvent<EvMoveGroupMotionExecutionSucceeded<TSourceObject, TOrthogonal>>();
    };
 
    postEventMotionExecutionFailed_ = [=]()
    {
      this->onFailed_();
      this->postEvent<EvMoveGroupMotionExecutionFailed<TSourceObject, TOrthogonal>>();
    };
  }

References onFailed_, onSucceeded_, smacc2::ISmaccComponent::postEvent(), postEventMotionExecutionFailed_, and postEventMotionExecutionSucceeded_.

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postEventMotionExecutionFailed()

void cl_moveit2z::CpMoveGroupInterface::postEventMotionExecutionFailed ( )

inline

Definition at line 89 of file cp_move_group_interface.hpp.

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

References smacc2::ISmaccComponent::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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postEventMotionExecutionSucceeded()

void cl_moveit2z::CpMoveGroupInterface::postEventMotionExecutionSucceeded ( )

inline

Definition at line 83 of file cp_move_group_interface.hpp.

  {
    RCLCPP_INFO(getLogger(), "[CpMoveGroupInterface] Post Motion Success Event");
    postEventMotionExecutionSucceeded_();
  }

References smacc2::ISmaccComponent::getLogger(), and postEventMotionExecutionSucceeded_.

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::CpMoveGroupInterface::moveGroupClientInterface

Definition at line 49 of file cp_move_group_interface.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::CpMoveGroupInterface::onFailed_

private

Definition at line 112 of file cp_move_group_interface.hpp.

Referenced by onMotionExecutionFailed(), and onStateOrthogonalAllocation().

onSucceeded_

smacc2::SmaccSignal<void()> cl_moveit2z::CpMoveGroupInterface::onSucceeded_

private

Definition at line 111 of file cp_move_group_interface.hpp.

Referenced by onMotionExecutionSucceeded(), and onStateOrthogonalAllocation().

options_

moveit::planning_interface::MoveGroupInterface::Options cl_moveit2z::CpMoveGroupInterface::options_

private

Definition at line 114 of file cp_move_group_interface.hpp.

Referenced by onInitialize().

planningSceneInterface

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

Definition at line 50 of file cp_move_group_interface.hpp.

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

postEventMotionExecutionFailed_

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

private

Definition at line 109 of file cp_move_group_interface.hpp.

Referenced by onStateOrthogonalAllocation(), and postEventMotionExecutionFailed().

postEventMotionExecutionSucceeded_

std::function<void()> cl_moveit2z::CpMoveGroupInterface::postEventMotionExecutionSucceeded_

private

Definition at line 108 of file cp_move_group_interface.hpp.

Referenced by onStateOrthogonalAllocation(), and postEventMotionExecutionSucceeded().

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

• smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_move_group_interface.hpp