cl_move_group_interface::CbDetachObject Class Reference

#include <cb_detach_object.h>

Inheritance diagram for cl_move_group_interface::CbDetachObject:

Collaboration diagram for cl_move_group_interface::CbDetachObject:

Public Member Functions
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 ()

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 15 of file cb_detach_object.h.

Member Function Documentation

onEntry()

void cl_move_group_interface::CbDetachObject::onEntry ( )

overridevirtual

Reimplemented from smacc::SmaccClientBehavior.

Definition at line 12 of file cb_detach_object.cpp.

    {
        cl_move_group_interface::GraspingComponent *graspingComponent;
        this->requiresComponent(graspingComponent);
 
        cl_move_group_interface::ClMoveGroup *moveGroupClient;
        this->requiresClient(moveGroupClient);
 
        auto &planningSceneInterface = moveGroupClient->planningSceneInterface;
 
        moveGroupClient->moveGroupClientInterface.detachObject(*(graspingComponent->currentAttachedObjectName));
        planningSceneInterface.removeCollisionObjects({*(graspingComponent->currentAttachedObjectName)});
    }

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

Here is the call graph for this function:

onExit()

void cl_move_group_interface::CbDetachObject::onExit ( )

overridevirtual

Reimplemented from smacc::SmaccClientBehavior.

Definition at line 26 of file cb_detach_object.cpp.

    {
    }

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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_detach_object.h
• smacc_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_detach_object.cpp