sm_autoware_avp::OrAutowareAuto Class Reference

#include <or_autoware_auto.hpp>

Inheritance diagram for sm_autoware_avp::OrAutowareAuto:

Collaboration diagram for sm_autoware_avp::OrAutowareAuto:

Public Member Functions
void	onInitialize () override
Public Member Functions inherited from smacc2::Orthogonal< OrAutowareAuto >
std::shared_ptr< ClientHandler< OrAutowareAuto, TClient > >	createClient (TArgs... args)
Public Member Functions inherited from smacc2::ISmaccOrthogonal
void	setStateMachine (ISmaccStateMachine *value)
ISmaccStateMachine *	getStateMachine ()
void	addClientBehavior (std::shared_ptr< smacc2::ISmaccClientBehavior > clientBehavior)
void	runtimeConfigure ()
void	onEntry ()
void	onExit ()
virtual std::string	getName () const
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
template<typename SmaccClientType >
bool	requiresClient (SmaccClientType *&storage)
const std::vector< std::shared_ptr< smacc2::ISmaccClient > > &	getClients ()
const std::vector< std::shared_ptr< smacc2::ISmaccClientBehavior > > &	getClientBehaviors () const
template<typename T >
void	setGlobalSMData (std::string name, T value)
template<typename T >
bool	getGlobalSMData (std::string name, T &ret)
template<typename TClientBehavior >
TClientBehavior *	getClientBehavior ()
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccOrthogonal
virtual void	onInitialize ()
void	initializeClients ()
template<typename TOrthogonal , typename TClient >
void	assignClientToOrthogonal (TClient *client)
Protected Attributes inherited from smacc2::ISmaccOrthogonal
std::vector< std::shared_ptr< smacc2::ISmaccClient > >	clients_

Detailed Description

Definition at line 31 of file or_autoware_auto.hpp.

Member Function Documentation

onInitialize()

void sm_autoware_avp::OrAutowareAuto::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccOrthogonal.

Definition at line 34 of file or_autoware_auto.hpp.

  {
    auto client = this->createClient<sm_autoware_avp::clients::ClAutoware>();
 
    client->createNamedComponent<
      smacc2::components::CpTopicPublisher<geometry_msgs::msg::PoseWithCovarianceStamped>>(
      "initialPoseEstimation", "/localization/initialpose");
 
    client->createNamedComponent<
      smacc2::components::CpTopicPublisher<geometry_msgs::msg::PoseStamped>>(
      "goalPose", "planning/goal_pose");
 
    client->createNamedComponent<
      smacc2::components::CpTopicSubscriber<geometry_msgs::msg::PoseWithCovarianceStamped>>(
      "ndtPose", "/localization/ndt_pose");
  }

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

• smacc2_sm_reference_library/sm_autoware_avp/include/sm_autoware_avp/orthogonals/or_autoware_auto.hpp