sm_test_moveit_ur5_sim::StPouringMotion Struct Reference

#include <st_pouring_motion.hpp>

Inheritance diagram for sm_test_moveit_ur5_sim::StPouringMotion:

Collaboration diagram for sm_test_moveit_ur5_sim::StPouringMotion:

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::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< 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::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< 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_
ISmaccState *	parentState_
const smacc2::introspection::SmaccStateInfo *	stateInfo_

Detailed Description

Definition at line 35 of file st_pouring_motion.hpp.

Member Typedef Documentation

reactions

typedef boost::mpl::list< Transition<EvCbSuccess<CbCircularPouringMotion, OrArm>, StMoveLastTrajectoryInitialState, SUCCESS>, Transition<EvCbFailure<CbCircularPouringMotion, OrArm>, StMoveLastTrajectoryInitialState, ABORT> > sm_test_moveit_ur5_sim::StPouringMotion::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.

{ RCLCPP_INFO(getLogger(), "On Entry!"); }

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.

{ 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.

{ 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.

  {
    static_assert(
      std::is_base_of<ISmaccState, Context>::value ||
        std::is_base_of<ISmaccStateMachine, Context>::value,
      "The context class must be a SmaccState or a SmaccStateMachine");
    static_assert(
      !std::is_same<MostDerived, Context>::value,
      "The context must be a different state or state machine "
      "than the current state");
 
    logger_.reset(new rclcpp::Logger(
      rclcpp::get_logger(smacc2::utils::cleanShortTypeName(typeid(MostDerived)))));
 
    RCLCPP_INFO(getLogger(), "[%s] creating state ", STATE_NAME);
    this->set_context(ctx.pContext_);
 
    node_ = this->getStateMachine().getNode();
 
    this->stateInfo_ = getStateInfo();
 
    // storing a reference to the parent state
    auto & ps = this->template context<Context>();
    parentState_ = dynamic_cast<ISmaccState *>(&ps);
    finishStateThrown = false;
  }

staticConfigure()

static void sm_test_moveit_ur5_sim::StPouringMotion::staticConfigure ( )

inlinestatic

Definition at line 47 of file st_pouring_motion.hpp.

  {
   geometry_msgs::msg::Point relativePivotPoint;
   relativePivotPoint.x = -0.01;
   double deltaHeight = 0.05;
   std::string tipLink = "tool0";
   std::string globalFrame = "tool0";
 
    configure_orthogonal<OrArm, CbCircularPouringMotion>(relativePivotPoint, deltaHeight, tipLink, globalFrame);
  }

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

• smacc2_sm_reference_library/sm_test_moveit_ur5_sim/include/sm_test_moveit_ur5_sim/states/st_pouring_motion.hpp