sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary Class Reference

#include <cp_square_shape_bondary.hpp>

Inheritance diagram for sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary:

Collaboration diagram for sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary:

Public Member Functions
	CpSquareShapeBoundary (float squareLenghtMeters)
void	onInitialize () override
float	getForwardDistance ()
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Public Attributes
float	squareLenghtMeters_
::cl_nav2z::Pose *	robotPose_

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 35 of file cp_square_shape_bondary.hpp.

Constructor & Destructor Documentation

CpSquareShapeBoundary()

sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary::CpSquareShapeBoundary ( float  squareLenghtMeters )

inline

Definition at line 41 of file cp_square_shape_bondary.hpp.

    : squareLenghtMeters_(squareLenghtMeters)
  {
 
  }

Member Function Documentation

getForwardDistance()

float sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary::getForwardDistance ( )

inline

Definition at line 52 of file cp_square_shape_bondary.hpp.

  {
    float currentAngle = robotPose_->getYaw();
 
    // warp 0 to 2pi
    while(currentAngle < 0)
    {
      currentAngle+=2*M_PI;
    }
 
    float side = squareLenghtMeters_/2.0;
 
    float fwdist = -1;
    float x,y;
 
    if((currentAngle > 0 && currentAngle < M_PI/4  )             // rightside
      || (currentAngle > 7*M_PI/4 && currentAngle <= 2*M_PI)     // rightside
      || (currentAngle > 3*M_PI/4 && currentAngle <= 5*M_PI/4)  // leftside
      )
    {
      float m = tan(currentAngle);
      x = side;
      y = m*x;
 
      fwdist = sqrt(x*x + y*y);
    }
    else if((currentAngle > M_PI/4 && currentAngle <= 3*M_PI/4)      // top side
            || (currentAngle > 5*M_PI/4 && currentAngle <= 7*M_PI/4)) // bottom side
    {
        float cotan = cos(currentAngle)/sin(currentAngle);
        y = side;
        x = cotan*y;
 
        fwdist = sqrt(x*x + y*y);
    }
    else
    {
      RCLCPP_FATAL_STREAM(getLogger(), "[" << getName() << " ] not implemented case");
    }
 
    RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << " ] distance for yaw angle: " << currentAngle << " and square size: "<< squareLenghtMeters_ << " -- dist: " << fwdist <<"(x: "<< x <<" y:" << y <<")");
 
    return fwdist;
  }

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), cl_nav2z::Pose::getYaw(), robotPose_, and squareLenghtMeters_.

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onInitialize()

void sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 47 of file cp_square_shape_bondary.hpp.

  {
    requiresComponent(robotPose_);
  }

References smacc2::ISmaccComponent::requiresComponent(), and robotPose_.

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Member Data Documentation

robotPose_

::cl_nav2z::Pose* sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary::robotPose_

Definition at line 39 of file cp_square_shape_bondary.hpp.

Referenced by getForwardDistance(), and onInitialize().

squareLenghtMeters_

float sm_dance_bot_warehouse_2::cl_nav2z::CpSquareShapeBoundary::squareLenghtMeters_

Definition at line 38 of file cp_square_shape_bondary.hpp.

Referenced by getForwardDistance().

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

• smacc2_sm_reference_library/sm_dance_bot_warehouse_2/include/sm_dance_bot_warehouse_2/clients/cl_nav2z/components/cp_square_shape_bondary.hpp