#include <st_acquire_sensors.hpp>

Inheritance diagram for sm_aws_warehouse_navigation::StAcquireSensors:

Collaboration diagram for sm_aws_warehouse_navigation::StAcquireSensors:

Public Types
typedef mpl::list< Transition< EvCbSuccess< CbWaitTransform, OrNavigation >, StStartNavigation, SUCCESS > >	reactions

Public Types inherited from smacc2::SmaccState< StAcquireSensors, SmAwsWarehouseNavigation >
typedef SmAwsWarehouseNavigation	TContext

typedef Context::inner_context_type	context_type

typedef context_type::state_iterator	state_iterator

typedef mpl::list<>	LastDeepState

typedef base_type::outermost_context_base_type	outermost_context_base_type

typedef base_type::inner_context_ptr_type	inner_context_ptr_type

typedef base_type::context_ptr_type	context_ptr_type

typedef base_type::inner_initial_list	inner_initial_list

Public Member Functions
void	runtimeConfigure ()

void	onEntry ()

void	sendInitialPoseEstimation ()

void	onExit ()

Public Member Functions inherited from smacc2::SmaccState< StAcquireSensors, SmAwsWarehouseNavigation >
	SmaccState ()=delete

	SmaccState (my_context ctx)

virtual	~SmaccState ()

const smacc2::introspection::SmaccStateInfo *	getStateInfo ()

std::string	getName () override

std::string	getFullName ()

std::string	getShortName ()

virtual ISmaccState *	getParentState ()

void	exit ()

void	runtimeConfigure ()

void	onEntry ()

void	onExit ()

bool	getGlobalSMData (std::string name, T &ret)

void	setGlobalSMData (std::string name, T value)

void	requiresComponent (SmaccComponentType *&storage)

virtual ISmaccStateMachine &	getStateMachine ()

void	checkWhileLoopConditionAndThrowEvent (bool(MostDerived::*conditionFn)())

void	throwSequenceFinishedEvent ()

Public Member Functions inherited from smacc2::ISmaccState
virtual ISmaccStateMachine &	getStateMachine ()=0

virtual std::string	getName ()=0

ISmaccState *	getParentState ()

rclcpp::Node::SharedPtr &	getNode ()

rclcpp::Logger	getLogger ()

virtual std::string	getClassName ()

template<typename TOrthogonal , typename TBehavior , typename... Args>
std::shared_ptr< TBehavior >	configure (Args &&... args)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

template<typename T >
bool	getGlobalSMData (std::string name, T &ret)

template<typename T >
void	setGlobalSMData (std::string name, T value)

template<typename TStateReactor , typename TTriggerEvent , typename TEventList , typename... TEvArgs>
std::shared_ptr< TStateReactor >	createStateReactor (TEvArgs... args)

template<typename TStateReactor , typename... TEvArgs>
std::shared_ptr< TStateReactor >	createStateReactor (TEvArgs... args)

template<typename TEventGenerator , typename... TEvArgs>
std::shared_ptr< TEventGenerator >	createEventGenerator (TEvArgs... args)

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TransitionType >
void	notifyTransition ()

void	notifyTransitionFromTransitionTypeInfo (std::shared_ptr< smacc2::introspection::TypeInfo > &transitionTypeInfo)

std::vector< std::shared_ptr< StateReactor > > &	getStateReactors ()

std::vector< std::shared_ptr< SmaccEventGenerator > > &	getEventGenerators ()

template<typename TOrthogonal >
TOrthogonal *	getOrthogonal ()

template<typename TEventGenerator >
TEventGenerator *	getEventGenerator ()

template<typename TStateReactor >
TStateReactor *	getStateReactor ()

Static Public Member Functions
static void	staticConfigure ()

Static Public Member Functions inherited from smacc2::SmaccState< StAcquireSensors, SmAwsWarehouseNavigation >
static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh, StAcquireSensors &)> initializationFunction)

static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh)> initializationFunction)

static void	configure_orthogonal (Args &&... args)

static std::shared_ptr< smacc2::introspection::StateReactorHandler >	static_createStateReactor (TArgs... args)

static std::shared_ptr< smacc2::introspection::EventGeneratorHandler >	static_createEventGenerator (TUArgs... args)

static std::shared_ptr< smacc2::introspection::StateReactorHandler >	static_createStateReactor_aux (TUArgs... args)

static void	initial_deep_construct (outermost_context_base_type &outermostContextBase)

static void	deep_construct (const context_ptr_type &pContext, outermost_context_base_type &outermostContextBase)

static inner_context_ptr_type	shallow_construct (const context_ptr_type &pContext, outermost_context_base_type &outermostContextBase)

Public Attributes
cl_nav2z::Amcl *	amcl_

Public Attributes inherited from smacc2::SmaccState< StAcquireSensors, SmAwsWarehouseNavigation >
bool	finishStateThrown

mpl::list<> *	smacc_inner_type

Additional Inherited Members
Protected Attributes inherited from smacc2::ISmaccState
rclcpp::Node::SharedPtr	node_

std::shared_ptr< rclcpp::Logger >	logger_

std::vector< std::shared_ptr< StateReactor > >	stateReactors_

std::vector< std::shared_ptr< smacc2::SmaccEventGenerator > >	eventGenerators_

ISmaccState *	parentState_

const smacc2::introspection::SmaccStateInfo *	stateInfo_

Detailed Description

Definition at line 23 of file st_acquire_sensors.hpp.

Member Typedef Documentation

◆ reactions

typedef mpl::list< Transition<EvCbSuccess<CbWaitTransform, OrNavigation>, StStartNavigation, SUCCESS> > sm_aws_warehouse_navigation::StAcquireSensors::reactions

Definition at line 33 of file st_acquire_sensors.hpp.

Member Function Documentation

◆ onEntry()

void sm_aws_warehouse_navigation::StAcquireSensors::onEntry ( )

inline

Definition at line 61 of file st_acquire_sensors.hpp.

  {
    //sendInitialPoseEstimation();
    //auto res = exec("ros2");
    //RCLCPP_INFO(getLogger(), "launch result: %s", res.c_str());
  }

◆ onExit()

void sm_aws_warehouse_navigation::StAcquireSensors::onExit ( )

inline

Definition at line 97 of file st_acquire_sensors.hpp.

97{}

◆ runtimeConfigure()

void sm_aws_warehouse_navigation::StAcquireSensors::runtimeConfigure ( )

inline

Definition at line 50 of file st_acquire_sensors.hpp.

  {
    // illegal wait workaround
    // rclcpp::sleep_for(6s);
 
    // ClNav2Z * navClient;
    // getOrthogonal<OrNavigation>()->requiresClient(navClient);
 
    // amcl_ = navClient->getComponent<Amcl>();
  }

◆ sendInitialPoseEstimation()

void sm_aws_warehouse_navigation::StAcquireSensors::sendInitialPoseEstimation ( )

inline

Definition at line 68 of file st_acquire_sensors.hpp.

  {
    geometry_msgs::msg::PoseWithCovarianceStamped initialposemsg;
    //bool useSimTime = getNode()->get_parameter("use_sim_time").as_bool();
    //getNode()->set_parameter("use_sim_time",true);
 
    initialposemsg.header.stamp = getNode()->now();
    initialposemsg.header.frame_id = "map";
 
    initialposemsg.pose.pose.position.x = 3.415412425994873;
    initialposemsg.pose.pose.position.y = 2.0;
    initialposemsg.pose.pose.position.z = 0;
 
    initialposemsg.pose.pose.orientation.x = 0;
    initialposemsg.pose.pose.orientation.y = 0;
    initialposemsg.pose.pose.orientation.z = 1;
    initialposemsg.pose.pose.orientation.w = 0;
 
    //z: 0.9999985465626609
    // w: 0.00170495529732811
 
    initialposemsg.pose.covariance = {
      0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0,
      0.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0,
      0.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.06853891909122467};
 
    amcl_->setInitialPose(initialposemsg);
  }

References amcl_, smacc2::ISmaccState::getNode(), and cl_nav2z::Amcl::setInitialPose().

Here is the call graph for this function:

◆ staticConfigure()

static void sm_aws_warehouse_navigation::StAcquireSensors::staticConfigure ( )

inlinestatic

Definition at line 38 of file st_acquire_sensors.hpp.

  {
    configure_orthogonal<OrNavigation, CbWaitTransform>("odom", "map", rclcpp::Duration(30000s));
 
    //configure_orthogonal<OrNavigation, CbWaitPose>();
    // configure_orthogonal<OrNavigation, CbWaitActionServer>(std::chrono::milliseconds(10000));
    // configure_orthogonal<OrNavigation, CbWaitNav2Nodes>(std::vector<Nav2Nodes>{
    //   Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator});
  }

References service_node_3::s.

Member Data Documentation

◆ amcl_

cl_nav2z::Amcl* sm_aws_warehouse_navigation::StAcquireSensors::amcl_

Definition at line 35 of file st_acquire_sensors.hpp.

Referenced by sendInitialPoseEstimation().

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

smacc2_sm_reference_library/sm_aws_warehouse_navigation/include/sm_aws_warehouse_navigation/states/st_acquire_sensors.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ reactions

Member Function Documentation

◆ onEntry()

◆ onExit()

◆ runtimeConfigure()

◆ sendInitialPoseEstimation()

◆ staticConfigure()

Member Data Documentation

◆ amcl_