sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData Class Reference

#include <cp_lidar_data.hpp>

Inheritance diagram for sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData:

Collaboration diagram for sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData:

Public Member Functions
void	onInitialize () override
void	MessageCallbackStoreDistanceToWall (const sensor_msgs::msg::LaserScan &scanmsg)
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Public Attributes
sensor_msgs::msg::LaserScan	lastMessage_
float	forwardObstacleDistance
const float	SECURITY_DISTANCE = 1

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
virtual void	onInitialize ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()
ISmaccStateMachine *	getStateMachine ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 29 of file cp_lidar_data.hpp.

Member Function Documentation

MessageCallbackStoreDistanceToWall()

void sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData::MessageCallbackStoreDistanceToWall ( const sensor_msgs::msg::LaserScan &  scanmsg )

inline

Definition at line 45 of file cp_lidar_data.hpp.

  {
    this->lastMessage_ = scanmsg;
    //auto fwdist = scanmsg.ranges[scanmsg.ranges.size() / 2] /*meter*/;
    auto fwdist = scanmsg.ranges[0] /*meter*/;
 
    /*if the distance is infinity or nan, use max range distance*/
    if (fwdist == std::numeric_limits<float>::infinity() || fwdist != fwdist)
    {
      this->forwardObstacleDistance = scanmsg.range_max - SECURITY_DISTANCE /*meters*/;
      RCLCPP_INFO_THROTTLE(
        getLogger(), *(getNode()->get_clock()), 1000,
        "[CpLidarSensorData] Distance to forward obstacle is not a number, setting default value "
        "to: %lf",
        scanmsg.range_max);
    }
    else
    {
      this->forwardObstacleDistance = std::max(fwdist - SECURITY_DISTANCE, 0.0F);
    }
  }

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getNode(), and SECURITY_DISTANCE.

Referenced by onInitialize().

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onInitialize()

void sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 37 of file cp_lidar_data.hpp.

  {
    auto client_ =
      dynamic_cast<smacc2::client_bases::SmaccSubscriberClient<sensor_msgs::msg::LaserScan> *>(
        owner_);
    client_->onMessageReceived(&CpLidarSensorData::MessageCallbackStoreDistanceToWall, this);
  }

References MessageCallbackStoreDistanceToWall(), smacc2::client_bases::SmaccSubscriberClient< MessageType >::onMessageReceived(), and smacc2::ISmaccComponent::owner_.

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Member Data Documentation

forwardObstacleDistance

float sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData::forwardObstacleDistance

Definition at line 33 of file cp_lidar_data.hpp.

lastMessage_

sensor_msgs::msg::LaserScan sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData::lastMessage_

Definition at line 32 of file cp_lidar_data.hpp.

SECURITY_DISTANCE

const float sm_dance_bot_strikes_back::cl_lidar::CpLidarSensorData::SECURITY_DISTANCE = 1

Definition at line 35 of file cp_lidar_data.hpp.

Referenced by MessageCallbackStoreDistanceToWall().

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

• smacc2_sm_reference_library/sm_dance_bot_strikes_back/include/sm_dance_bot_strikes_back/clients/cl_lidar/components/cp_lidar_data.hpp
• smacc2_sm_reference_library/sm_dance_bot_strikes_back/src/sm_dance_bot_strikes_back/clients/cl_lidar/cp_lidar_data.cpp