SMACC2
Public Types | Public Member Functions | Static Public Member Functions | List of all members
sm_test_moveit_ur5_sim::StPouringMotion Struct Reference

#include <st_pouring_motion.hpp>

Inheritance diagram for sm_test_moveit_ur5_sim::StPouringMotion:
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Collaboration diagram for sm_test_moveit_ur5_sim::StPouringMotion:
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Public Types

typedef boost::mpl::list< Transition< EvCbSuccess< CbCircularPouringMotion, OrArm >, StMoveLastTrajectoryInitialState, SUCCESS >, Transition< EvCbFailure< CbCircularPouringMotion, OrArm >, StMoveLastTrajectoryInitialState, ABORT > > reactions
 
- Public Types inherited from smacc2::SmaccState< StPouringMotion, SmTestMoveitUr5Sim >
typedef SmTestMoveitUr5Sim 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 onExit ()
 
 SmaccState ()=delete
 
 SmaccState (my_context ctx)
 
- Public Member Functions inherited from smacc2::SmaccState< StPouringMotion, SmTestMoveitUr5Sim >
 SmaccState ()=delete
 
 SmaccState (my_context ctx)
 
virtual ~SmaccState ()
 
const smacc2::introspection::SmaccStateInfogetStateInfo ()
 
std::string getName () override
 
std::string getFullName ()
 
std::string getShortName ()
 
virtual ISmaccStategetParentState ()
 
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 ISmaccStateMachinegetStateMachine ()
 
void checkWhileLoopConditionAndThrowEvent (bool(MostDerived::*conditionFn)())
 
void throwSequenceFinishedEvent ()
 
- Public Member Functions inherited from smacc2::ISmaccState
virtual ISmaccStateMachinegetStateMachine ()=0
 
virtual std::string getName ()=0
 
ISmaccStategetParentState ()
 
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< StPouringMotion, SmTestMoveitUr5Sim >
static void configure_orthogonal_runtime (std::function< void(TBehavior &bh, StPouringMotion &)> initializationFunction)
 
static void configure_orthogonal_runtime (std::function< void(TBehavior &bh)> initializationFunction)
 
static void configure_orthogonal (Args &&... args)
 
static std::shared_ptr< smacc2::introspection::StateReactorHandlerstatic_createStateReactor (TArgs... args)
 
static std::shared_ptr< smacc2::introspection::EventGeneratorHandlerstatic_createEventGenerator (TUArgs... args)
 
static std::shared_ptr< smacc2::introspection::StateReactorHandlerstatic_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< StPouringMotion, SmTestMoveitUr5Sim >
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_
 
ISmaccStateparentState_
 
const smacc2::introspection::SmaccStateInfostateInfo_
 

Detailed Description

Definition at line 35 of file st_pouring_motion.hpp.

Member Typedef Documentation

◆ reactions

Definition at line 44 of file st_pouring_motion.hpp.

Member Function Documentation

◆ onEntry()

void sm_test_moveit_ur5_sim::StPouringMotion::onEntry ( )
inline

Definition at line 60 of file st_pouring_motion.hpp.

60{ RCLCPP_INFO(getLogger(), "On Entry!"); }
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36

References smacc2::ISmaccState::getLogger().

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◆ onExit()

void sm_test_moveit_ur5_sim::StPouringMotion::onExit ( )
inline

Definition at line 62 of file st_pouring_motion.hpp.

62{ RCLCPP_INFO(getLogger(), "On Exit!"); }

References smacc2::ISmaccState::getLogger().

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◆ runtimeConfigure()

void sm_test_moveit_ur5_sim::StPouringMotion::runtimeConfigure ( )
inline

Definition at line 58 of file st_pouring_motion.hpp.

58{ RCLCPP_INFO(getLogger(), "Entering StPouringMotion"); }

References smacc2::ISmaccState::getLogger().

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◆ SmaccState() [1/2]

smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::SmaccState ( )
delete

◆ SmaccState() [2/2]

smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::SmaccState ( my_context  ctx)
inline

Definition at line 65 of file smacc_state_base.hpp.

66 {
67 static_assert(
68 std::is_base_of<ISmaccState, Context>::value ||
69 std::is_base_of<ISmaccStateMachine, Context>::value,
70 "The context class must be a SmaccState or a SmaccStateMachine");
71 static_assert(
72 !std::is_same<MostDerived, Context>::value,
73 "The context must be a different state or state machine "
74 "than the current state");
75
76 logger_.reset(new rclcpp::Logger(
77 rclcpp::get_logger(smacc2::utils::cleanShortTypeName(typeid(MostDerived)))));
78
79 RCLCPP_INFO(getLogger(), "[%s] creating state ", STATE_NAME);
80 this->set_context(ctx.pContext_);
81
82 node_ = this->getStateMachine().getNode();
83
84 this->stateInfo_ = getStateInfo();
85
86 // storing a reference to the parent state
87 auto & ps = this->template context<Context>();
88 parentState_ = dynamic_cast<ISmaccState *>(&ps);
89 finishStateThrown = false;
90 }
rclcpp::Node::SharedPtr getNode()
std::shared_ptr< rclcpp::Logger > logger_
Definition: smacc_state.hpp:98
rclcpp::Node::SharedPtr node_
Definition: smacc_state.hpp:97
ISmaccState * parentState_
const smacc2::introspection::SmaccStateInfo * stateInfo_
const smacc2::introspection::SmaccStateInfo * getStateInfo()
std::string cleanShortTypeName(const std::type_info &tinfo)
Definition: common.cpp:28
#define STATE_NAME

◆ staticConfigure()

static void sm_test_moveit_ur5_sim::StPouringMotion::staticConfigure ( )
inlinestatic

Definition at line 47 of file st_pouring_motion.hpp.

48 {
49 geometry_msgs::msg::Point relativePivotPoint;
50 relativePivotPoint.x = -0.01;
51 double deltaHeight = 0.05;
52 std::string tipLink = "tool0";
53 std::string globalFrame = "tool0";
54
55 configure_orthogonal<OrArm, CbCircularPouringMotion>(relativePivotPoint, deltaHeight, tipLink, globalFrame);
56 }

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