cl_nav2z::CbNavigateNextWaypoint Class Reference

#include <cb_navigate_next_waypoint.hpp>

Inheritance diagram for cl_nav2z::CbNavigateNextWaypoint:

Collaboration diagram for cl_nav2z::CbNavigateNextWaypoint:

Public Member Functions
	CbNavigateNextWaypoint ()
virtual	~CbNavigateNextWaypoint ()
void	onEntry () override
void	onExit () override
Public Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
virtual	~CbNav2ZClientBehaviorBase ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
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 Attributes
WaypointNavigator *	waypointsNavigator_

Additional Inherited Members
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 ()
Protected Attributes inherited from cl_nav2z::CbNav2ZClientBehaviorBase
cl_nav2z::ClNav2Z *	moveBaseClient_
rclcpp_action::ResultCode	navigationResult_

Detailed Description

Definition at line 29 of file cb_navigate_next_waypoint.hpp.

Constructor & Destructor Documentation

CbNavigateNextWaypoint()

cl_nav2z::CbNavigateNextWaypoint::CbNavigateNextWaypoint

(

)

Definition at line 25 of file cb_navigate_next_waypoint.cpp.

{}

~CbNavigateNextWaypoint()

cl_nav2z::CbNavigateNextWaypoint::~CbNavigateNextWaypoint ( )

virtual

Definition at line 27 of file cb_navigate_next_waypoint.cpp.

{}

Member Function Documentation

onEntry()

void cl_nav2z::CbNavigateNextWaypoint::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 29 of file cb_navigate_next_waypoint.cpp.

{
  waypointsNavigator_ = moveBaseClient_->getComponent<WaypointNavigator>();
  waypointsNavigator_->sendNextGoal();
  RCLCPP_INFO(
    getLogger(), "[CbNavigateNextWaypoint] current iteration waypoints i: %ld",
    waypointsNavigator_->getCurrentWaypointIndex());
}

References smacc2::ISmaccClient::getComponent(), cl_nav2z::WaypointNavigator::getCurrentWaypointIndex(), smacc2::ISmaccClientBehavior::getLogger(), cl_nav2z::CbNav2ZClientBehaviorBase::moveBaseClient_, cl_nav2z::WaypointNavigator::sendNextGoal(), and waypointsNavigator_.

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onExit()

void cl_nav2z::CbNavigateNextWaypoint::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 38 of file cb_navigate_next_waypoint.cpp.

{ waypointsNavigator_->stopWaitingResult(); }

References cl_nav2z::WaypointNavigator::stopWaitingResult(), and waypointsNavigator_.

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Member Data Documentation

waypointsNavigator_

WaypointNavigator* cl_nav2z::CbNavigateNextWaypoint::waypointsNavigator_

Definition at line 40 of file cb_navigate_next_waypoint.hpp.

Referenced by onEntry(), and onExit().

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_next_waypoint.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_next_waypoint.cpp