SMACC2
Public Member Functions | List of all members
sm_dance_bot_warehouse_3::OrObstaclePerception Class Reference

#include <or_obstacle_perception.hpp>

Inheritance diagram for sm_dance_bot_warehouse_3::OrObstaclePerception:
Inheritance graph
Collaboration diagram for sm_dance_bot_warehouse_3::OrObstaclePerception:
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Public Member Functions

void onInitialize () override
 
- Public Member Functions inherited from smacc2::Orthogonal< OrObstaclePerception >
std::shared_ptr< ClientHandler< OrObstaclePerception, TClient > > createClient (TArgs... args)
 
- Public Member Functions inherited from smacc2::ISmaccOrthogonal
void setStateMachine (ISmaccStateMachine *value)
 
ISmaccStateMachinegetStateMachine ()
 
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 32 of file or_obstacle_perception.hpp.

Member Function Documentation

◆ onInitialize()

void sm_dance_bot_warehouse_3::OrObstaclePerception::onInitialize ( )
inlineoverridevirtual

Reimplemented from smacc2::ISmaccOrthogonal.

Definition at line 35 of file or_obstacle_perception.hpp.

36 {
37 auto lidarClient = this->createClient<ClLidarSensor>();
38 lidarClient->createComponent<CpForwardObstacleDetector>();
39
40 lidarClient->topicName = "/scan";
41 lidarClient->timeout_ = rclcpp::Duration(std::chrono::seconds(10));
42 }

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