cl_move_group_interface::CbUndoLastTrajectory Class Reference

#include <cb_undo_last_trajectory.hpp>

Inheritance diagram for cl_move_group_interface::CbUndoLastTrajectory:

Collaboration diagram for cl_move_group_interface::CbUndoLastTrajectory:

Public Member Functions
	CbUndoLastTrajectory ()
	CbUndoLastTrajectory (int backIndex)
virtual	~CbUndoLastTrajectory ()
virtual void	onEntry () override
virtual void	generateTrajectory ()
Public Member Functions inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
	CbMoveEndEffectorTrajectory (std::optional< std::string > tipLink=std::nullopt)
	CbMoveEndEffectorTrajectory (const std::vector< geometry_msgs::msg::PoseStamped > &endEffectorTrajectory, std::optional< std::string > tipLink=std::nullopt)
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual void	onEntry () override
virtual void	onExit () override
virtual void	update () override
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
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)
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)
Public Member Functions inherited from smacc2::ISmaccUpdatable
	ISmaccUpdatable ()
	ISmaccUpdatable (rclcpp::Duration duration)
void	executeUpdate (rclcpp::Node::SharedPtr node)
void	setUpdatePeriod (rclcpp::Duration duration)

Private Attributes
int	backIndex_ = -1
moveit_msgs::msg::RobotTrajectory	trajectory
moveit_msgs::msg::RobotTrajectory	reversed

Additional Inherited Members
Public Attributes inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
std::optional< std::string >	group_
std::optional< std::string >	tipLink_
std::optional< bool >	allowInitialTrajectoryStateJointDiscontinuity_
Protected Member Functions inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
ComputeJointTrajectoryErrorCode	computeJointSpaceTrajectory (moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)
void	executeJointSpaceTrajectory (const moveit_msgs::msg::RobotTrajectory &computedJointTrajectory)
virtual void	generateTrajectory ()=0
virtual void	createMarkers ()
void	getCurrentEndEffectorPose (std::string globalFrame, tf2::Stamped< tf2::Transform > &currentEndEffectorTransform)
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode ()
virtual rclcpp::Logger	getLogger ()
virtual void	update ()=0
Protected Attributes inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
std::vector< geometry_msgs::msg::PoseStamped >	endEffectorTrajectory_
ClMoveGroup *	movegroupClient_ = nullptr
visualization_msgs::msg::MarkerArray	beahiorMarkers_

Detailed Description

Definition at line 28 of file cb_undo_last_trajectory.hpp.

Constructor & Destructor Documentation

CbUndoLastTrajectory() [1/2]

cl_move_group_interface::CbUndoLastTrajectory::CbUndoLastTrajectory

(

)

Definition at line 26 of file cb_undo_last_trajectory.cpp.

{}

CbUndoLastTrajectory() [2/2]

cl_move_group_interface::CbUndoLastTrajectory::CbUndoLastTrajectory

(

int

backIndex

)

Definition at line 28 of file cb_undo_last_trajectory.cpp.

: backIndex_(backIndex) {}

~CbUndoLastTrajectory()

cl_move_group_interface::CbUndoLastTrajectory::~CbUndoLastTrajectory ( )

virtual

Definition at line 30 of file cb_undo_last_trajectory.cpp.

{}

Member Function Documentation

generateTrajectory()

void cl_move_group_interface::CbUndoLastTrajectory::generateTrajectory ( )

virtual

Implements cl_move_group_interface::CbMoveEndEffectorTrajectory.

Definition at line 32 of file cb_undo_last_trajectory.cpp.

{}

onEntry()

void cl_move_group_interface::CbUndoLastTrajectory::onEntry ( )

overridevirtual

Reimplemented from cl_move_group_interface::CbMoveEndEffectorTrajectory.

Definition at line 34 of file cb_undo_last_trajectory.cpp.

{
  CpTrajectoryHistory * trajectoryHistory;
  this->requiresComponent(trajectoryHistory);
  this->requiresClient(movegroupClient_);
 
  if (trajectoryHistory->getLastTrajectory(backIndex_, trajectory))
  {
    RCLCPP_WARN_STREAM(
      getLogger(), "[" << getName() << "] reversing last trajectory [" << backIndex_ << "]");
 
    auto initialTime = trajectory.joint_trajectory.points.back().time_from_start;
 
    reversed = trajectory;
 
    std::reverse(reversed.joint_trajectory.points.begin(), reversed.joint_trajectory.points.end());
 
    for (auto & jp : reversed.joint_trajectory.points)
    {
      jp.time_from_start = rclcpp::Duration(initialTime) - rclcpp::Duration(jp.time_from_start);
    }
 
    this->executeJointSpaceTrajectory(reversed);
  }
  else
  {
    RCLCPP_WARN_STREAM(
      getLogger(), "[" << getName() << "] could not undo last trajectory, trajectory not found.");
  }
}

References backIndex_, cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_move_group_interface::CpTrajectoryHistory::getLastTrajectory(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), cl_move_group_interface::CbMoveEndEffectorTrajectory::movegroupClient_, smacc2::ISmaccClientBehavior::requiresClient(), smacc2::ISmaccClientBehavior::requiresComponent(), reversed, and trajectory.

Here is the call graph for this function:

Member Data Documentation

backIndex_

int cl_move_group_interface::CbUndoLastTrajectory::backIndex_ = -1

private

Definition at line 42 of file cb_undo_last_trajectory.hpp.

Referenced by onEntry().

reversed

moveit_msgs::msg::RobotTrajectory cl_move_group_interface::CbUndoLastTrajectory::reversed

private

Definition at line 45 of file cb_undo_last_trajectory.hpp.

Referenced by onEntry().

trajectory

moveit_msgs::msg::RobotTrajectory cl_move_group_interface::CbUndoLastTrajectory::trajectory

private

Definition at line 44 of file cb_undo_last_trajectory.hpp.

Referenced by onEntry().

---

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

• smacc2_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_undo_last_trajectory.hpp
• smacc2_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_undo_last_trajectory.cpp