cl_move_group_interface::CbAttachObject Class Reference

#include <cb_attach_object.h>

Inheritance diagram for cl_move_group_interface::CbAttachObject:

Collaboration diagram for cl_move_group_interface::CbAttachObject:

Public Member Functions
	CbAttachObject (std::string targetObjectName)
	CbAttachObject ()
virtual void	onEntry () override
virtual void	onExit () override
virtual void	onEntry () override
virtual void	onExit () override
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
std::string	targetObjectName_

Additional Inherited Members
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 ()

Detailed Description

Definition at line 14 of file cb_attach_object.h.

Constructor & Destructor Documentation

CbAttachObject() [1/2]

cl_move_group_interface::CbAttachObject::CbAttachObject

(

std::string

targetObjectName

)

Definition at line 12 of file cb_attach_object.cpp.

        : targetObjectName_(targetObjectName)
    {
    }

CbAttachObject() [2/2]

cl_move_group_interface::CbAttachObject::CbAttachObject

(

)

Definition at line 17 of file cb_attach_object.cpp.

    {
        }

Member Function Documentation

onEntry()

void cl_move_group_interface::CbAttachObject::onEntry ( )

overridevirtual

Reimplemented from smacc::SmaccClientBehavior.

Definition at line 21 of file cb_attach_object.cpp.

    {
        cl_move_group_interface::ClMoveGroup *moveGroup;
        this->requiresClient(moveGroup);
 
        cl_move_group_interface::GraspingComponent *graspingComponent;
        this->requiresComponent(graspingComponent);
 
        // auto cubepos = cubeinfo->pose_->toPoseStampedMsg();
 
        moveit_msgs::CollisionObject targetCollisionObject;
 
        bool found = graspingComponent->getGraspingObject(targetObjectName_, targetCollisionObject);
 
        if (found)
        {
            targetCollisionObject.operation = moveit_msgs::CollisionObject::ADD;
            targetCollisionObject.header.stamp = ros::Time::now();
 
            moveGroup->planningSceneInterface.applyCollisionObject(targetCollisionObject);
            // collisionObjects.push_back(cubeCollision);
 
            graspingComponent->currentAttachedObjectName = targetObjectName_;
            moveGroup->moveGroupClientInterface.attachObject(targetObjectName_, "gripper_link", graspingComponent->fingerTipNames);
        }
    }

References cl_move_group_interface::GraspingComponent::currentAttachedObjectName, cl_move_group_interface::GraspingComponent::fingerTipNames, cl_move_group_interface::GraspingComponent::getGraspingObject(), cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, cl_move_group_interface::ClMoveGroup::planningSceneInterface, smacc::ISmaccClientBehavior::requiresClient(), smacc::ISmaccClientBehavior::requiresComponent(), and targetObjectName_.

Here is the call graph for this function:

onExit()

void cl_move_group_interface::CbAttachObject::onExit ( )

overridevirtual

Reimplemented from smacc::SmaccClientBehavior.

Definition at line 48 of file cb_attach_object.cpp.

    {
    }

Member Data Documentation

targetObjectName_

std::string cl_move_group_interface::CbAttachObject::targetObjectName_

Definition at line 25 of file cb_attach_object.h.

Referenced by onEntry().

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

• smacc_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_attach_object.h
• smacc_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_attach_object.cpp