#include <cl_movegroup.hpp>

Inheritance diagram for cl_move_group_interface::ClMoveGroup:

Collaboration diagram for cl_move_group_interface::ClMoveGroup:

Public Member Functions
	ClMoveGroup (std::string groupName)

virtual	~ClMoveGroup ()

void	onInitialize () override

void	postEventMotionExecutionSucceded ()

void	postEventMotionExecutionFailed ()

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

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)

Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()

virtual	~ISmaccClient ()

virtual void	onInitialize ()

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)

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_

std::string	groupName_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

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_movegroup.hpp.

Constructor & Destructor Documentation

◆ ClMoveGroup()

cl_move_group_interface::ClMoveGroup::ClMoveGroup ( std::string groupName )

Definition at line 31 of file cl_movegroup.cpp.

31: groupName_(groupName) { rclcpp::sleep_for(10s); }

cl_move_group_interface::ClMoveGroup::groupName_

std::string groupName_

Definition: cl_movegroup.hpp:131

service_node_3.s

s

Definition: service_node_3.py:42

References service_node_3::s.

◆ ~ClMoveGroup()

cl_move_group_interface::ClMoveGroup::~ClMoveGroup ( )

virtual

Definition at line 33 of file cl_movegroup.cpp.

33{}

Member Function Documentation

◆ onInitialize()

void cl_move_group_interface::ClMoveGroup::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccClient.

Definition at line 35 of file cl_movegroup.cpp.

{
  moveGroupClientInterface = std::make_shared<MoveGroupInterface>(getNode(), groupName_);
  planningSceneInterface = std::make_shared<PlanningSceneInterface>();
}

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

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◆ onMotionExecutionFailed()

template<typename TCallback , typename T >

boost::signals2::connection cl_move_group_interface::ClMoveGroup::onMotionExecutionFailed	(	TCallback	callback,
		T *	object
	)

inline

Definition at line 119 of file cl_movegroup.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_move_group_interface::ClMoveGroup::onMotionExecutionSuccedded	(	TCallback	callback,
		T *	object
	)

inline

Definition at line 113 of file cl_movegroup.hpp.

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

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

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◆ onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_move_group_interface::ClMoveGroup::onOrthogonalAllocation ( )

inline

Definition at line 99 of file cl_movegroup.hpp.

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

References onFailed_, onSucceded_, postEventMotionExecutionFailed_, and postEventMotionExecutionSucceded_.

◆ postEventMotionExecutionFailed()

void cl_move_group_interface::ClMoveGroup::postEventMotionExecutionFailed ( )

Definition at line 47 of file cl_movegroup.cpp.

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

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

Referenced by cl_move_group_interface::CbMoveJoints::moveJoints(), cl_move_group_interface::CbMoveEndEffectorRelative::moveRelative(), cl_move_group_interface::CbMoveCartesianRelative::moveRelativeCartesian(), cl_move_group_interface::CbMoveEndEffector::moveToAbsolutePose(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onEntry(), and cl_move_group_interface::CbMoveEndEffectorTrajectory::onOrthogonalAllocation().

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◆ postEventMotionExecutionSucceded()

void cl_move_group_interface::ClMoveGroup::postEventMotionExecutionSucceded ( )

Definition at line 41 of file cl_movegroup.cpp.

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

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

Referenced by cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_move_group_interface::CbMoveJoints::moveJoints(), cl_move_group_interface::CbMoveEndEffectorRelative::moveRelative(), cl_move_group_interface::CbMoveCartesianRelative::moveRelativeCartesian(), and cl_move_group_interface::CbMoveEndEffector::moveToAbsolutePose().

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Member Data Documentation

◆ groupName_

std::string cl_move_group_interface::ClMoveGroup::groupName_

private

Definition at line 131 of file cl_movegroup.hpp.

Referenced by onInitialize().

◆ moveGroupClientInterface

std::shared_ptr<moveit::planning_interface::MoveGroupInterface> cl_move_group_interface::ClMoveGroup::moveGroupClientInterface

Definition at line 84 of file cl_movegroup.hpp.

◆ onFailed_

smacc2::SmaccSignal<void()> cl_move_group_interface::ClMoveGroup::onFailed_

private

Definition at line 129 of file cl_movegroup.hpp.

Referenced by onMotionExecutionFailed(), and onOrthogonalAllocation().

◆ onSucceded_

smacc2::SmaccSignal<void()> cl_move_group_interface::ClMoveGroup::onSucceded_

private

Definition at line 128 of file cl_movegroup.hpp.

Referenced by onMotionExecutionSuccedded(), and onOrthogonalAllocation().

◆ planningSceneInterface

std::shared_ptr<moveit::planning_interface::PlanningSceneInterface> cl_move_group_interface::ClMoveGroup::planningSceneInterface

Definition at line 86 of file cl_movegroup.hpp.

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

◆ postEventMotionExecutionFailed_

std::function<void()> cl_move_group_interface::ClMoveGroup::postEventMotionExecutionFailed_

private

Definition at line 126 of file cl_movegroup.hpp.

Referenced by onOrthogonalAllocation(), and postEventMotionExecutionFailed().

◆ postEventMotionExecutionSucceded_

std::function<void()> cl_move_group_interface::ClMoveGroup::postEventMotionExecutionSucceded_

private

Definition at line 125 of file cl_movegroup.hpp.

Referenced by onOrthogonalAllocation(), and postEventMotionExecutionSucceded().

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

smacc2_client_library/move_group_interface_client/include/move_group_interface_client/cl_movegroup.hpp
smacc2_client_library/move_group_interface_client/src/move_group_interface_client/cl_movegroup.cpp

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ClMoveGroup()

◆ ~ClMoveGroup()

Member Function Documentation

◆ onInitialize()

◆ onMotionExecutionFailed()

◆ onMotionExecutionSuccedded()

◆ onOrthogonalAllocation()

◆ postEventMotionExecutionFailed()

◆ postEventMotionExecutionSucceded()

Member Data Documentation

◆ groupName_

◆ moveGroupClientInterface

◆ onFailed_

◆ onSucceded_

◆ planningSceneInterface

◆ postEventMotionExecutionFailed_

◆ postEventMotionExecutionSucceded_