cl_move_base_z::CbUndoPathBackwards Class Reference

#include <cb_undo_path_backwards.h>

Inheritance diagram for cl_move_base_z::CbUndoPathBackwards:

Collaboration diagram for cl_move_base_z::CbUndoPathBackwards:

Public Member Functions
virtual void	onEntry () override
virtual void	onExit () override
Public Member Functions inherited from cl_move_base_z::CbMoveBaseClientBehaviorBase
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
Public Member Functions inherited from smacc::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)
Public Member Functions inherited from smacc::ISmaccClientBehavior
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
ros::NodeHandle	getNode ()

Public Attributes
boost::optional< UndoPathLocalPlanner >	forceUndoLocalPlanner

Private Attributes
tf::TransformListener	listener

Additional Inherited Members
Protected Member Functions inherited from smacc::SmaccAsyncClientBehavior
virtual void	executeOnEntry () override
virtual void	executeOnExit () override
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
Protected Member Functions inherited from smacc::ISmaccClientBehavior
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	executeOnEntry ()
virtual void	executeOnExit ()
virtual void	dispose ()
Protected Attributes inherited from cl_move_base_z::CbMoveBaseClientBehaviorBase
ClMoveBaseZ *	moveBaseClient_
ros::Publisher	visualizationMarkersPub_

Detailed Description

Definition at line 21 of file cb_undo_path_backwards.h.

Member Function Documentation

onEntry()

void cl_move_base_z::CbUndoPathBackwards::onEntry ( )

overridevirtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 9 of file cb_undo_path_backwards.cpp.

{
  auto *odomTracker = moveBaseClient_->getComponent<OdomTracker>();
 
  auto plannerSwitcher = moveBaseClient_->getComponent<PlannerSwitcher>();
 
  nav_msgs::Path forwardpath = odomTracker->getPath();
  // ROS_INFO_STREAM("[UndoPathBackward] Current path backwards: " << forwardpath);
 
  odomTracker->setWorkingMode(WorkingMode::CLEAR_PATH);
 
  ClMoveBaseZ::Goal goal;
  // this line is used to flush/reset backward planner in the case it were already there
  // plannerSwitcher->setDefaultPlanners();
  if (forwardpath.poses.size() > 0)
  {
    goal.target_pose = forwardpath.poses.front();
 
    if(forceUndoLocalPlanner)
    {
      if(forceUndoLocalPlanner == UndoPathLocalPlanner::PureSpinningLocalPlanner)
      {
        ROS_INFO("[CbUndoPathBackwards] forced to use Pure Spinning local planner");
        plannerSwitcher->setUndoPathPureSpinningPlannerConfiguration();
      }
      else
      {
        plannerSwitcher->setUndoPathBackwardsPlannerConfiguration();
        ROS_INFO("[CbUndoPathBackwards] forced to use BackwardsLocalPlanner (default)");
      }
    }
    else
    {
      ROS_INFO("[CbUndoPathBackwards] using default local planner: BackwardsLocalPlanner");
      plannerSwitcher->setUndoPathBackwardsPlannerConfiguration();
    }
 
    moveBaseClient_->sendGoal(goal);
  }
}

References forceUndoLocalPlanner, smacc::ISmaccClient::getComponent(), cl_move_base_z::CbMoveBaseClientBehaviorBase::moveBaseClient_, cl_move_base_z::PureSpinningLocalPlanner, and smacc::client_bases::SmaccActionClientBase< ActionType >::sendGoal().

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onExit()

void cl_move_base_z::CbUndoPathBackwards::onExit ( )

overridevirtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 50 of file cb_undo_path_backwards.cpp.

{
  auto *odomTracker = moveBaseClient_->getComponent<OdomTracker>();
  odomTracker->popPath();
}

References smacc::ISmaccClient::getComponent(), and cl_move_base_z::CbMoveBaseClientBehaviorBase::moveBaseClient_.

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Member Data Documentation

forceUndoLocalPlanner

boost::optional<UndoPathLocalPlanner> cl_move_base_z::CbUndoPathBackwards::forceUndoLocalPlanner

Definition at line 24 of file cb_undo_path_backwards.h.

Referenced by onEntry().

listener

tf::TransformListener cl_move_base_z::CbUndoPathBackwards::listener

private

Definition at line 31 of file cb_undo_path_backwards.h.

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The documentation for this class was generated from the following files:

• smacc_client_library/move_base_z_client/move_base_z_client_plugin/include/move_base_z_client_plugin/client_behaviors/cb_undo_path_backwards.h
• smacc_client_library/move_base_z_client/move_base_z_client_plugin/src/client_behaviors/cb_undo_path_backwards.cpp