cl_move_group_interface::CbEndEffectorRotate Class Reference

#include <cb_end_effector_rotate.h>

Inheritance diagram for cl_move_group_interface::CbEndEffectorRotate:

Collaboration diagram for cl_move_group_interface::CbEndEffectorRotate:

Public Member Functions
	CbEndEffectorRotate (double deltaRadians, std::string tipLink="")
virtual	~CbEndEffectorRotate ()
virtual void	onEntry () override
Public Member Functions inherited from cl_move_group_interface::CbCircularPivotMotion
	CbCircularPivotMotion (std::string tipLink="")
	CbCircularPivotMotion (const geometry_msgs::PoseStamped &planePivotPose, double deltaRadians, std::string tipLink="")
	CbCircularPivotMotion (const geometry_msgs::PoseStamped &planePivotPose, const geometry_msgs::Pose &relativeInitialPose, double deltaRadians, std::string tipLink="")
virtual void	generateTrajectory () override
virtual void	createMarkers () override
Public Member Functions inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
	CbMoveEndEffectorTrajectory (std::string tipLink="")
	CbMoveEndEffectorTrajectory (const std::vector< geometry_msgs::PoseStamped > &endEffectorTrajectory, std::string tipLink="")
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual void	onEntry () override
virtual void	onExit () override
virtual void	update () override
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 Member Functions inherited from smacc::ISmaccUpdatable
	ISmaccUpdatable ()
	ISmaccUpdatable (ros::Duration duration)
void	executeUpdate ()
void	setUpdatePeriod (ros::Duration duration)

Additional Inherited Members
Public Attributes inherited from cl_move_group_interface::CbCircularPivotMotion
boost::optional< double >	angularSpeed_rad_s_
boost::optional< double >	linearSpeed_m_s_
boost::optional< geometry_msgs::Pose >	relativeInitialPose_
Public Attributes inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
boost::optional< std::string >	group_
boost::optional< std::string >	tipLink_
boost::optional< bool >	allowInitialTrajectoryStateJointDiscontinuity_
Protected Member Functions inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
ComputeJointTrajectoryErrorCode	computeJointSpaceTrajectory (moveit_msgs::RobotTrajectory &computedJointTrajectory)
void	executeJointSpaceTrajectory (const moveit_msgs::RobotTrajectory &computedJointTrajectory)
virtual void	generateTrajectory ()
virtual void	createMarkers ()
void	getCurrentEndEffectorPose (std::string globalFrame, tf::StampedTransform &currentEndEffectorTransform)
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 ()
virtual void	update ()=0
Protected Attributes inherited from cl_move_group_interface::CbCircularPivotMotion
geometry_msgs::PoseStamped	planePivotPose_
double	deltaRadians_
Protected Attributes inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
std::vector< geometry_msgs::PoseStamped >	endEffectorTrajectory_
ClMoveGroup *	movegroupClient_ = nullptr
visualization_msgs::MarkerArray	beahiorMarkers_

Detailed Description

Definition at line 11 of file cb_end_effector_rotate.h.

Constructor & Destructor Documentation

CbEndEffectorRotate()

cl_move_group_interface::CbEndEffectorRotate::CbEndEffectorRotate	(	double	deltaRadians,
		std::string	tipLink = ""
	)

Definition at line 5 of file cb_end_effector_rotate.cpp.

        : CbCircularPivotMotion(tipLink)
    {
        deltaRadians_ = deltaRadians;
    }

References cl_move_group_interface::CbCircularPivotMotion::deltaRadians_.

~CbEndEffectorRotate()

cl_move_group_interface::CbEndEffectorRotate::~CbEndEffectorRotate ( )

virtual

Definition at line 11 of file cb_end_effector_rotate.cpp.

    {
 
    }

Member Function Documentation

onEntry()

void cl_move_group_interface::CbEndEffectorRotate::onEntry ( )

overridevirtual

Reimplemented from cl_move_group_interface::CbMoveEndEffectorTrajectory.

Definition at line 16 of file cb_end_effector_rotate.cpp.

    {
        // autocompute pivot pose
 
        tf::TransformListener tfListener;
        // tf::StampedTransform globalBaseLink;
        tf::StampedTransform endEffectorInPivotFrame;
 
        int attempts = 3;
 
        while (attempts > 0)
        {
            try
            {
                this->requiresClient(movegroupClient_);
                if (!tipLink_ || *tipLink_ == "")
                {
                    tipLink_ = this->movegroupClient_->moveGroupClientInterface.getEndEffectorLink();
                }
 
                auto pivotFrame = this->movegroupClient_->moveGroupClientInterface.getPlanningFrame();
 
                tf::StampedTransform endEffectorInPivotFrame;
 
                tfListener.waitForTransform(pivotFrame, *tipLink_, ros::Time(0), ros::Duration(10));
                tfListener.lookupTransform(pivotFrame, *tipLink_, ros::Time(0), endEffectorInPivotFrame);
 
                tf::poseTFToMsg(endEffectorInPivotFrame, this->planePivotPose_.pose);
                this->planePivotPose_.header.frame_id = endEffectorInPivotFrame.frame_id_;
                this->planePivotPose_.header.stamp = endEffectorInPivotFrame.stamp_;
                break;
            }
            catch (const std::exception &e)
            {
                ROS_ERROR_STREAM(e.what() << ". Attempt countdown: " << attempts);
                ros::Duration(0.5);
                attempts--;
            }
        }
 
        CbCircularPivotMotion::onEntry();
    }

References cl_move_group_interface::CbMoveEndEffectorTrajectory::movegroupClient_, cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, smacc::ISmaccClientBehavior::onEntry(), cl_move_group_interface::CbCircularPivotMotion::planePivotPose_, smacc::ISmaccClientBehavior::requiresClient(), and cl_move_group_interface::CbMoveEndEffectorTrajectory::tipLink_.

Here is the call graph for this function:

---

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_end_effector_rotate.h
• smacc_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_end_effector_rotate.cpp