cl_move_base_z::CbRotate Class Reference

#include <cb_rotate.h>

Inheritance diagram for cl_move_base_z::CbRotate:

Collaboration diagram for cl_move_base_z::CbRotate:

Public Member Functions
	CbRotate ()
	CbRotate (float rotate_degree)
virtual void	onEntry () 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
tf::TransformListener	listener
boost::optional< float >	rotateDegree

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 13 of file cb_rotate.h.

Constructor & Destructor Documentation

CbRotate() [1/2]

cl_move_base_z::CbRotate::CbRotate

(

)

Definition at line 7 of file cb_rotate.cpp.

{
}

CbRotate() [2/2]

cl_move_base_z::CbRotate::CbRotate

(

float

rotate_degree

)

Definition at line 11 of file cb_rotate.cpp.

{
  rotateDegree = rotate_degree;
}

References rotateDegree.

Member Function Documentation

onEntry()

void cl_move_base_z::CbRotate::onEntry ( )

overridevirtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 16 of file cb_rotate.cpp.

{
  double angle_increment_degree;
 
  if (!rotateDegree)
  {
    this->getCurrentState()->param("angle_increment_degree", angle_increment_degree, 45.0);
  }
  else
  {
    angle_increment_degree = *rotateDegree;
  }
 
  auto plannerSwitcher = moveBaseClient_->getComponent<PlannerSwitcher>();
  // this should work better with a coroutine and await
  // this->plannerSwitcher_->setForwardPlanner();
  plannerSwitcher->setDefaultPlanners();
 
  auto p = moveBaseClient_->getComponent<cl_move_base_z::Pose>();
  auto referenceFrame = p->getReferenceFrame();
  auto currentPoseMsg = p->toPoseMsg();
 
  tf::Transform currentPose;
  tf::poseMsgToTF(currentPoseMsg, currentPose);
 
  auto odomTracker = moveBaseClient_->getComponent<odom_tracker::OdomTracker>();
  ClMoveBaseZ::Goal goal;
  goal.target_pose.header.frame_id = referenceFrame;
  goal.target_pose.header.stamp = ros::Time::now();
 
  auto currentAngle = tf::getYaw(currentPoseMsg.orientation);
  auto targetAngle = currentAngle + angle_increment_degree * M_PI / 180.0;
  goal.target_pose.pose.position = currentPoseMsg.position;
  goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(targetAngle);
 
  geometry_msgs::PoseStamped stampedCurrentPoseMsg;
  stampedCurrentPoseMsg.header.frame_id = referenceFrame;
  stampedCurrentPoseMsg.header.stamp = ros::Time::now();
  stampedCurrentPoseMsg.pose = currentPoseMsg;
 
  this->requiresClient(moveBaseClient_);
  odomTracker->pushPath("RelativeRotation");
 
  odomTracker->setStartPoint(stampedCurrentPoseMsg);
  odomTracker->setWorkingMode(odom_tracker::WorkingMode::RECORD_PATH);
 
  ROS_INFO_STREAM("current pose: " << currentPoseMsg);
  ROS_INFO_STREAM("goal pose: " << goal.target_pose.pose);
  moveBaseClient_->sendGoal(goal);
}

References smacc::ISmaccClient::getComponent(), smacc::ISmaccClientBehavior::getCurrentState(), cl_move_base_z::Pose::getReferenceFrame(), cl_move_base_z::CbMoveBaseClientBehaviorBase::moveBaseClient_, smacc::ISmaccState::param(), cl_move_base_z::odom_tracker::RECORD_PATH, smacc::ISmaccClientBehavior::requiresClient(), rotateDegree, smacc::client_bases::SmaccActionClientBase< ActionType >::sendGoal(), and cl_move_base_z::PlannerSwitcher::setDefaultPlanners().

Here is the call graph for this function:

Member Data Documentation

listener

tf::TransformListener cl_move_base_z::CbRotate::listener

Definition at line 16 of file cb_rotate.h.

rotateDegree

boost::optional<float> cl_move_base_z::CbRotate::rotateDegree

Definition at line 18 of file cb_rotate.h.

Referenced by CbRotate(), and onEntry().

---

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_rotate.h
• smacc_client_library/move_base_z_client/move_base_z_client_plugin/src/client_behaviors/cb_rotate.cpp