sm_aws_warehouse_navigation::StStartNavigation Struct Reference

#include <st_start_navigation.hpp>

Inheritance diagram for sm_aws_warehouse_navigation::StStartNavigation:

Collaboration diagram for sm_aws_warehouse_navigation::StStartNavigation:

Public Types
typedef mpl::list< Transition< EvCbSuccess< CbWaitNav2Nodes, OrNavigation >, StInitialNavigateForward, SUCCESS > >	reactions
Public Types inherited from smacc2::SmaccState< StStartNavigation, 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< StStartNavigation, 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< StStartNavigation, SmAwsWarehouseNavigation >
static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh, StStartNavigation &)> 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)

Additional Inherited Members
Public Attributes inherited from smacc2::SmaccState< StStartNavigation, SmAwsWarehouseNavigation >
bool	finishStateThrown
mpl::list<> *	smacc_inner_type
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_start_navigation.hpp.

Member Typedef Documentation

reactions

typedef mpl::list< Transition<EvCbSuccess<CbWaitNav2Nodes, OrNavigation>, StInitialNavigateForward, SUCCESS> > sm_aws_warehouse_navigation::StStartNavigation::reactions

Definition at line 34 of file st_start_navigation.hpp.

Member Function Documentation

onEntry()

void sm_aws_warehouse_navigation::StStartNavigation::onEntry ( )

inline

Definition at line 54 of file st_start_navigation.hpp.

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

onExit()

void sm_aws_warehouse_navigation::StStartNavigation::onExit ( )

inline

Definition at line 90 of file st_start_navigation.hpp.

{}

runtimeConfigure()

void sm_aws_warehouse_navigation::StStartNavigation::runtimeConfigure ( )

inline

Definition at line 43 of file st_start_navigation.hpp.

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

sendInitialPoseEstimation()

void sm_aws_warehouse_navigation::StStartNavigation::sendInitialPoseEstimation ( )

inline

Definition at line 61 of file st_start_navigation.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 smacc2::ISmaccState::getNode().

Here is the call graph for this function:

staticConfigure()

static void sm_aws_warehouse_navigation::StStartNavigation::staticConfigure ( )

inlinestatic

Definition at line 37 of file st_start_navigation.hpp.

  {
    configure_orthogonal<OrNavigation, CbRosLaunch>();
    configure_orthogonal<OrNavigation, CbWaitNav2Nodes>();
  }

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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_start_navigation.hpp