cl_nav2z::CbDriveOnHeading Class Reference

#include <cb_drive_on_heading.hpp>

Inheritance diagram for cl_nav2z::CbDriveOnHeading:

Collaboration diagram for cl_nav2z::CbDriveOnHeading:

Public Member Functions
	CbDriveOnHeading (float distance, float speed=0.15f, std::chrono::seconds timeAllowance=std::chrono::seconds(30))
void	onEntry () override
Public Member Functions inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::DriveOnHeading >
void	onStateOrthogonalAllocation ()
virtual	~CbActionClientBehaviorBase ()
void	onExit () override
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
float	distance_
float	speed_
std::chrono::seconds	timeAllowance_

Additional Inherited Members
Public Types inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::DriveOnHeading >
using	Goal
using	GoalHandle
using	WrappedResult
using	Feedback
using	ActionClientComponent
Protected Member Functions inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::DriveOnHeading >
bool	sendGoal (Goal &goal)
void	cancelGoal ()
virtual void	onActionSuccess (const WrappedResult &result)
virtual void	onActionAbort (const WrappedResult &result)
virtual void	onActionFeedback (const Feedback &)
void	setActionClientName (std::string name)
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 smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::DriveOnHeading >
ActionClientComponent *	actionClient_
std::string	actionClientName_
rclcpp_action::ResultCode	actionResult_
std::chrono::milliseconds	goalResponseTimeout_

Detailed Description

Definition at line 27 of file cb_drive_on_heading.hpp.

Constructor & Destructor Documentation

CbDriveOnHeading()

cl_nav2z::CbDriveOnHeading::CbDriveOnHeading	(	float	distance,
		float	speed = 0.15f,
		std::chrono::seconds	timeAllowance = std::chrono::seconds(30) )

Definition at line 20 of file cb_drive_on_heading.cpp.

: distance_(distance), speed_(speed), timeAllowance_(timeAllowance)
{
}

Member Function Documentation

onEntry()

void cl_nav2z::CbDriveOnHeading::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 25 of file cb_drive_on_heading.cpp.

{
  Goal goal;
  goal.target.x = distance_;
  goal.speed = speed_;
  goal.time_allowance = rclcpp::Duration(timeAllowance_);
 
  RCLCPP_INFO(
    getLogger(), "[%s] Driving %f m on current heading at %f m/s (behavior server)",
    getName().c_str(), static_cast<double>(distance_), static_cast<double>(speed_));
 
  sendGoal(goal);
}

References distance_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::DriveOnHeading >::sendGoal(), speed_, and timeAllowance_.

Here is the call graph for this function:

Member Data Documentation

distance_

float cl_nav2z::CbDriveOnHeading::distance_

private

Definition at line 38 of file cb_drive_on_heading.hpp.

Referenced by onEntry().

speed_

float cl_nav2z::CbDriveOnHeading::speed_

private

Definition at line 39 of file cb_drive_on_heading.hpp.

Referenced by onEntry().

timeAllowance_

std::chrono::seconds cl_nav2z::CbDriveOnHeading::timeAllowance_

private

Definition at line 40 of file cb_drive_on_heading.hpp.

Referenced by onEntry().

---

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

• smacc2_client_library/cl_nav2z/cl_nav2z/include/cl_nav2z/client_behaviors/cb_drive_on_heading.hpp
• smacc2_client_library/cl_nav2z/cl_nav2z/src/cl_nav2z/client_behaviors/cb_drive_on_heading.cpp