#include <cb_move_end_effector_relative.h>

Inheritance diagram for cl_move_group_interface::CbMoveEndEffectorRelative:

Collaboration diagram for cl_move_group_interface::CbMoveEndEffectorRelative:

Public Member Functions
	CbMoveEndEffectorRelative ()

	CbMoveEndEffectorRelative (geometry_msgs::Transform transform)

virtual void	onEntry () override

virtual void	onExit () 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 Attributes
geometry_msgs::Transform	transform_

boost::optional< std::string >	group_

Protected Member Functions
void	moveRelative (moveit::planning_interface::MoveGroupInterface &moveGroupinterface, geometry_msgs::Transform &transformOffset)

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
ClMoveGroup *	movegroupClient_

Detailed Description

Definition at line 14 of file cb_move_end_effector_relative.h.

Constructor & Destructor Documentation

◆ CbMoveEndEffectorRelative() [1/2]

cl_move_group_interface::CbMoveEndEffectorRelative::CbMoveEndEffectorRelative ( )

Definition at line 14 of file cb_move_end_effector_relative.cpp.

    {
        transform_.rotation.w = 1;
    }

References transform_.

◆ CbMoveEndEffectorRelative() [2/2]

cl_move_group_interface::CbMoveEndEffectorRelative::CbMoveEndEffectorRelative ( geometry_msgs::Transform transform )

Definition at line 19 of file cb_move_end_effector_relative.cpp.

20 {

21 }

Member Function Documentation

◆ moveRelative()

void cl_move_group_interface::CbMoveEndEffectorRelative::moveRelative	(	moveit::planning_interface::MoveGroupInterface &	moveGroupinterface,
		geometry_msgs::Transform &	transformOffset
	)

protected

Definition at line 44 of file cb_move_end_effector_relative.cpp.

    {
        auto referenceStartPose = moveGroupInterface.getCurrentPose();
        tf::Quaternion currentOrientation;
        tf::quaternionMsgToTF(referenceStartPose.pose.orientation, currentOrientation);
        tf::Quaternion desiredRelativeRotation;
 
        tf::quaternionMsgToTF(transformOffset.rotation, desiredRelativeRotation);
 
        auto targetOrientation = desiredRelativeRotation * currentOrientation;
 
        geometry_msgs::PoseStamped targetObjectPose = referenceStartPose;
 
        tf::quaternionTFToMsg(targetOrientation, targetObjectPose.pose.orientation);
        targetObjectPose.pose.position.x += transformOffset.translation.x;
        targetObjectPose.pose.position.y += transformOffset.translation.y;
        targetObjectPose.pose.position.z += transformOffset.translation.z;
 
        moveGroupInterface.setPlanningTime(1.0);
 
        ROS_INFO_STREAM("[CbMoveEndEffectorRelative] Target End efector Pose: " << targetObjectPose);
 
        moveGroupInterface.setPoseTarget(targetObjectPose);
        moveGroupInterface.setPoseReferenceFrame("map");
 
        moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan;
        bool success = (moveGroupInterface.plan(computedMotionPlan) == moveit::core::MoveItErrorCode::SUCCESS);
        ROS_INFO_NAMED("CbMoveEndEffectorRelative", "Success Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");
 
        if (success)
        {
            auto executionResult = moveGroupInterface.execute(computedMotionPlan);
 
            if (executionResult == moveit_msgs::MoveItErrorCodes::SUCCESS)
            {
                ROS_INFO("[CbMoveEndEffectorRelative] motion execution succeeded");
                movegroupClient_->postEventMotionExecutionSucceded();
                this->postSuccessEvent();
            }
            else
            {
                moveGroupInterface.setPoseTarget(referenceStartPose); // undo to avoid abort-repeat state issues with this relative motion
                ROS_INFO("[CbMoveEndEffectorRelative] motion execution failed");
                movegroupClient_->postEventMotionExecutionFailed();
                this->postFailureEvent();
            }
        }
        else
        {
            moveGroupInterface.setPoseTarget(referenceStartPose); //undo since we did not executed the motion
            ROS_INFO("[CbMoveEndEffectorRelative] motion execution failed");
            movegroupClient_->postEventMotionExecutionFailed();
            this->postFailureEvent();
        }
    }

References movegroupClient_, cl_move_group_interface::ClMoveGroup::postEventMotionExecutionFailed(), cl_move_group_interface::ClMoveGroup::postEventMotionExecutionSucceded(), smacc::SmaccAsyncClientBehavior::postFailureEvent(), and smacc::SmaccAsyncClientBehavior::postSuccessEvent().

Referenced by onEntry().

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◆ onEntry()

void cl_move_group_interface::CbMoveEndEffectorRelative::onEntry ( )

overridevirtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 23 of file cb_move_end_effector_relative.cpp.

    {
        ROS_INFO_STREAM("[CbMoveEndEffectorRelative] Transform end effector pose relative: " << transform_);
 
        this->requiresClient(movegroupClient_);
 
        if (this->group_)
        {
            moveit::planning_interface::MoveGroupInterface move_group(*(this->group_));
            this->moveRelative(move_group, this->transform_);
        }
        else
        {
            this->moveRelative(movegroupClient_->moveGroupClientInterface, this->transform_);
        }
    }

References group_, movegroupClient_, cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, moveRelative(), smacc::ISmaccClientBehavior::requiresClient(), and transform_.

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◆ onExit()

void cl_move_group_interface::CbMoveEndEffectorRelative::onExit ( )

overridevirtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 40 of file cb_move_end_effector_relative.cpp.

41 {

42 }

Member Data Documentation

◆ group_

boost::optional<std::string> cl_move_group_interface::CbMoveEndEffectorRelative::group_

Definition at line 19 of file cb_move_end_effector_relative.h.

Referenced by onEntry().

◆ movegroupClient_

ClMoveGroup* cl_move_group_interface::CbMoveEndEffectorRelative::movegroupClient_

protected

Definition at line 33 of file cb_move_end_effector_relative.h.

Referenced by moveRelative(), and onEntry().

◆ transform_

geometry_msgs::Transform cl_move_group_interface::CbMoveEndEffectorRelative::transform_

Definition at line 17 of file cb_move_end_effector_relative.h.

Referenced by CbMoveEndEffectorRelative(), and onEntry().

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_move_end_effector_relative.h
smacc_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_move_end_effector_relative.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes