cl_nav2z::CbWaitPose Class Reference

#include <cb_wait_pose.hpp>

Inheritance diagram for cl_nav2z::CbWaitPose:

Collaboration diagram for cl_nav2z::CbWaitPose:

Public Member Functions
	CbWaitPose ()
	CbWaitPose (WaitPoseStandardReferenceFrame frame)
virtual	~CbWaitPose ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
void	onEntry () 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)

Protected Attributes
cl_nav2z::ClNav2Z *	moveBaseClient_

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 ()

Detailed Description

Definition at line 36 of file cb_wait_pose.hpp.

Constructor & Destructor Documentation

CbWaitPose() [1/2]

cl_nav2z::CbWaitPose::CbWaitPose

(

)

Definition at line 29 of file cb_wait_pose.cpp.

{}

CbWaitPose() [2/2]

cl_nav2z::CbWaitPose::CbWaitPose

(

WaitPoseStandardReferenceFrame

frame

)

~CbWaitPose()

cl_nav2z::CbWaitPose::~CbWaitPose ( )

virtual

Definition at line 31 of file cb_wait_pose.cpp.

{}

Member Function Documentation

onEntry()

void cl_nav2z::CbWaitPose::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 33 of file cb_wait_pose.cpp.

{
  auto pose = this->moveBaseClient_->getComponent<Pose>();
  try
  {
    pose->waitTransformUpdate(rclcpp::Rate(20));
    auto posemsg = pose->toPoseMsg();
    RCLCPP_INFO_STREAM(getLogger(), "[CbWaitPose] pose arrived: " << std::endl << posemsg);
  }
  catch (std::exception & ex)
  {
    RCLCPP_INFO(getLogger(), "[CbWaitPose] error getting the robot pose");
    this->postFailureEvent();
    return;
  }
 
  RCLCPP_INFO(getLogger(), "[CbWaitPose] pose received");
  this->postSuccessEvent();
}

References smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClientBehavior::getLogger(), moveBaseClient_, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and cl_nav2z::Pose::waitTransformUpdate().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbWaitPose::onOrthogonalAllocation ( )

inline

Definition at line 48 of file cb_wait_pose.hpp.

  {
    this->requiresClient(moveBaseClient_);
    smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References moveBaseClient_, and smacc2::ISmaccClientBehavior::requiresClient().

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Member Data Documentation

moveBaseClient_

cl_nav2z::ClNav2Z* cl_nav2z::CbWaitPose::moveBaseClient_

protected

Definition at line 57 of file cb_wait_pose.hpp.

Referenced by onEntry(), and onOrthogonalAllocation().

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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_wait_pose.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_wait_pose.cpp