sm_autoware_avp::clients::autoware_client::CbNavigateGlobalPosition Class Reference

#include <cb_navigate_global_position.hpp>

Inheritance diagram for sm_autoware_avp::clients::autoware_client::CbNavigateGlobalPosition:

Collaboration diagram for sm_autoware_avp::clients::autoware_client::CbNavigateGlobalPosition:

Public Member Functions
	CbNavigateGlobalPosition (const geometry_msgs::msg::PoseStamped &goalPose)
virtual void	onEntry () override
void	onExit () 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)

Private Attributes
geometry_msgs::msg::PoseStamped	goalPose_

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 31 of file cb_navigate_global_position.hpp.

Constructor & Destructor Documentation

CbNavigateGlobalPosition()

sm_autoware_avp::clients::autoware_client::CbNavigateGlobalPosition::CbNavigateGlobalPosition

(

const geometry_msgs::msg::PoseStamped &

goalPose

)

Definition at line 31 of file cb_navigate_global_position.cpp.

: goalPose_(goalPose)
{
 
}

Member Function Documentation

onEntry()

void sm_autoware_avp::clients::autoware_client::CbNavigateGlobalPosition::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 45 of file cb_navigate_global_position.cpp.

{
  RCLCPP_INFO(getLogger(), "On Entry!");
  sm_autoware_avp::clients::ClAutoware * autowareClient_;
 
  this->requiresClient(autowareClient_);
 
  this->goalPose_.header.stamp = getNode()->now();
 
  autowareClient_->publishGoalPose(this->goalPose_);
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), goalPose_, sm_autoware_avp::clients::ClAutoware::publishGoalPose(), and smacc2::ISmaccClientBehavior::requiresClient().

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onExit()

void sm_autoware_avp::clients::autoware_client::CbNavigateGlobalPosition::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 57 of file cb_navigate_global_position.cpp.

{}

Member Data Documentation

goalPose_

geometry_msgs::msg::PoseStamped sm_autoware_avp::clients::autoware_client::CbNavigateGlobalPosition::goalPose_

private

Definition at line 41 of file cb_navigate_global_position.hpp.

Referenced by onEntry().

---

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

• smacc2_sm_reference_library/sm_autoware_avp/include/sm_autoware_avp/clients/autoware_client/client_behaviors/cb_navigate_global_position.hpp
• smacc2_sm_reference_library/sm_autoware_avp/src/sm_autoware_avp/clients/autoware_client/client_behaviors/cb_navigate_global_position.cpp