st_move_joints.hpp

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// Copyright 2021 MyName/MyCompany Inc.
// Copyright 2021 RobosoftAI Inc. (template)
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 *****************************************************************************************************************/
 
#pragma once
 
namespace sm_test_moveit_ur5_sim
{
// SMACC2 classes
using smacc2::EvStateRequestFinish;
using smacc2::Transition;
using smacc2::default_transition_tags::SUCCESS;
using namespace smacc2;
using namespace cl_move_group_interface;
 
// STATE DECLARATION
struct StMoveJoints : smacc2::SmaccState<StMoveJoints, SmTestMoveitUr5Sim>
{
  using SmaccState::SmaccState;
 
  // TRANSITION TABLE
  typedef boost::mpl::list<
    Transition<EvCbSuccess<CbMoveJoints, OrArm>, StMoveEndEffector, SUCCESS>
 
    >
    reactions;
 
  // STATE FUNCTIONS
  static void staticConfigure()
  {
    std::map<std::string, double> jointValues{
      {"shoulder_lift_joint", 0.0},
      {"shoulder_pan_joint", 0.0},
      {"wrist_1_joint", M_PI / 4},
      {"wrist_2_joint", 0.0},
      {"wrist_3_joint", 0.0}};
 
    configure_orthogonal<OrArm, CbMoveJoints>(jointValues);
  };
 
  void runtimeConfigure()
  {
    ClMoveGroup * moveGroupClient;
    this->requiresClient(moveGroupClient);
    this->getOrthogonal<OrArm>()->getClientBehavior<CbMoveJoints>()->scalingFactor_ = 1;
  }
};
}  // namespace sm_test_moveit_ur5_sim