SMACC
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#include <cb_move_end_effector_trajectory.h>
Public Member Functions | |
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) |
Public Attributes | |
boost::optional< std::string > | group_ |
boost::optional< std::string > | tipLink_ |
boost::optional< bool > | allowInitialTrajectoryStateJointDiscontinuity_ |
Protected Member Functions | |
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 ¤tEndEffectorTransform) |
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 | |
std::vector< geometry_msgs::PoseStamped > | endEffectorTrajectory_ |
ClMoveGroup * | movegroupClient_ = nullptr |
visualization_msgs::MarkerArray | beahiorMarkers_ |
Private Member Functions | |
void | initializeROS () |
Private Attributes | |
ros::Publisher | markersPub_ |
std::atomic< bool > | markersInitialized_ |
ros::ServiceClient | iksrv_ |
std::mutex | m_mutex_ |
std::function< void(moveit_msgs::RobotTrajectory &)> | postJointDiscontinuityEvent |
std::function< void(moveit_msgs::RobotTrajectory &)> | postIncorrectInitialStateEvent |
std::function< void()> | postMotionExecutionFailureEvents |
bool | autocleanmarkers = false |
Definition at line 35 of file cb_move_end_effector_trajectory.h.
cl_move_group_interface::CbMoveEndEffectorTrajectory::CbMoveEndEffectorTrajectory | ( | std::string | tipLink = "" | ) |
Definition at line 16 of file cb_move_end_effector_trajectory.cpp.
References initializeROS().
cl_move_group_interface::CbMoveEndEffectorTrajectory::CbMoveEndEffectorTrajectory | ( | const std::vector< geometry_msgs::PoseStamped > & | endEffectorTrajectory, |
std::string | tipLink = "" |
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) |
Definition at line 22 of file cb_move_end_effector_trajectory.cpp.
References initializeROS().
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protected |
Definition at line 36 of file cb_move_end_effector_trajectory.cpp.
References allowInitialTrajectoryStateJointDiscontinuity_, smacc::ISmaccClientBehavior::currentState, endEffectorTrajectory_, iksrv_, cl_move_group_interface::INCORRECT_INITIAL_STATE, cl_move_group_interface::JOINT_TRAJECTORY_DISCONTINUITY, movegroupClient_, cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, cl_move_group_interface::SUCCESS, and tipLink_.
Referenced by onEntry().
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protectedvirtual |
Reimplemented in cl_move_group_interface::CbCircularPivotMotion, and cl_move_group_interface::CbCircularPouringMotion.
Definition at line 337 of file cb_move_end_effector_trajectory.cpp.
References beahiorMarkers_, and endEffectorTrajectory_.
Referenced by cl_move_group_interface::CbCircularPivotMotion::createMarkers(), cl_move_group_interface::CbCircularPouringMotion::createMarkers(), and onEntry().
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protected |
Definition at line 230 of file cb_move_end_effector_trajectory.cpp.
References smacc::ISmaccClientBehavior::getName(), movegroupClient_, cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, cl_move_group_interface::ClMoveGroup::postEventMotionExecutionSucceded(), smacc::SmaccAsyncClientBehavior::postFailureEvent(), postMotionExecutionFailureEvents, and smacc::SmaccAsyncClientBehavior::postSuccessEvent().
Referenced by cl_move_group_interface::CbExecuteLastTrajectory::onEntry(), onEntry(), and cl_move_group_interface::CbUndoLastTrajectory::onEntry().
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protectedvirtual |
Reimplemented in cl_move_group_interface::CbCircularPivotMotion, cl_move_group_interface::CbMoveCartesianRelative2, and cl_move_group_interface::CbCircularPouringMotion.
Definition at line 383 of file cb_move_end_effector_trajectory.cpp.
Referenced by onEntry().
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protected |
Definition at line 389 of file cb_move_end_effector_trajectory.cpp.
References movegroupClient_, cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, and tipLink_.
Referenced by cl_move_group_interface::CbCircularPouringMotion::createMarkers(), cl_move_group_interface::CbMoveCartesianRelative2::generateTrajectory(), and cl_move_group_interface::CbCircularPouringMotion::generateTrajectory().
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private |
Definition at line 29 of file cb_move_end_effector_trajectory.cpp.
References iksrv_, and markersPub_.
Referenced by CbMoveEndEffectorTrajectory().
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overridevirtual |
Reimplemented from smacc::ISmaccClientBehavior.
Reimplemented in cl_move_group_interface::CbEndEffectorRotate, cl_move_group_interface::CbExecuteLastTrajectory, and cl_move_group_interface::CbUndoLastTrajectory.
Definition at line 249 of file cb_move_end_effector_trajectory.cpp.
References computeJointSpaceTrajectory(), createMarkers(), smacc::introspection::demangleSymbol(), endEffectorTrajectory_, executeJointSpaceTrajectory(), generateTrajectory(), smacc::ISmaccClientBehavior::getName(), cl_move_group_interface::INCORRECT_INITIAL_STATE, cl_move_group_interface::JOINT_TRAJECTORY_DISCONTINUITY, markersInitialized_, movegroupClient_, cl_move_group_interface::ClMoveGroup::postEventMotionExecutionFailed(), smacc::SmaccAsyncClientBehavior::postFailureEvent(), postIncorrectInitialStateEvent, postJointDiscontinuityEvent, cl_move_group_interface::CpTrajectoryHistory::pushTrajectory(), smacc::ISmaccClientBehavior::requiresClient(), smacc::ISmaccClientBehavior::requiresComponent(), and cl_move_group_interface::SUCCESS.
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overridevirtual |
Reimplemented from smacc::ISmaccClientBehavior.
Definition at line 320 of file cb_move_end_effector_trajectory.cpp.
References autocleanmarkers, beahiorMarkers_, m_mutex_, markersInitialized_, and markersPub_.
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inline |
Definition at line 51 of file cb_move_end_effector_trajectory.h.
References smacc::ISmaccClientBehavior::getName(), movegroupClient_, smacc::ISmaccClientBehavior::postEvent(), cl_move_group_interface::ClMoveGroup::postEventMotionExecutionFailed(), postIncorrectInitialStateEvent, postJointDiscontinuityEvent, and postMotionExecutionFailureEvents.
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overridevirtual |
Implements smacc::ISmaccUpdatable.
Definition at line 311 of file cb_move_end_effector_trajectory.cpp.
References beahiorMarkers_, m_mutex_, markersInitialized_, and markersPub_.
boost::optional<bool> cl_move_group_interface::CbMoveEndEffectorTrajectory::allowInitialTrajectoryStateJointDiscontinuity_ |
Definition at line 44 of file cb_move_end_effector_trajectory.h.
Referenced by computeJointSpaceTrajectory().
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private |
Definition at line 115 of file cb_move_end_effector_trajectory.h.
Referenced by onExit().
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protected |
Definition at line 95 of file cb_move_end_effector_trajectory.h.
Referenced by createMarkers(), cl_move_group_interface::CbCircularPivotMotion::createMarkers(), cl_move_group_interface::CbCircularPouringMotion::createMarkers(), onExit(), and update().
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protected |
Definition at line 91 of file cb_move_end_effector_trajectory.h.
Referenced by computeJointSpaceTrajectory(), createMarkers(), cl_move_group_interface::CbCircularPivotMotion::generateTrajectory(), cl_move_group_interface::CbMoveCartesianRelative2::generateTrajectory(), cl_move_group_interface::CbCircularPouringMotion::generateTrajectory(), and onEntry().
boost::optional<std::string> cl_move_group_interface::CbMoveEndEffectorTrajectory::group_ |
Definition at line 40 of file cb_move_end_effector_trajectory.h.
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Definition at line 106 of file cb_move_end_effector_trajectory.h.
Referenced by computeJointSpaceTrajectory(), and initializeROS().
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Definition at line 108 of file cb_move_end_effector_trajectory.h.
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Definition at line 104 of file cb_move_end_effector_trajectory.h.
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Definition at line 102 of file cb_move_end_effector_trajectory.h.
Referenced by initializeROS(), onExit(), and update().
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Definition at line 93 of file cb_move_end_effector_trajectory.h.
Referenced by cl_move_group_interface::CbCircularPivotMotion::computeCurrentEndEffectorPoseRelativeToPivot(), computeJointSpaceTrajectory(), executeJointSpaceTrajectory(), getCurrentEndEffectorPose(), cl_move_group_interface::CbEndEffectorRotate::onEntry(), cl_move_group_interface::CbExecuteLastTrajectory::onEntry(), onEntry(), cl_move_group_interface::CbUndoLastTrajectory::onEntry(), and onOrthogonalAllocation().
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Definition at line 111 of file cb_move_end_effector_trajectory.h.
Referenced by onEntry(), and onOrthogonalAllocation().
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Definition at line 110 of file cb_move_end_effector_trajectory.h.
Referenced by onEntry(), and onOrthogonalAllocation().
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Definition at line 113 of file cb_move_end_effector_trajectory.h.
Referenced by executeJointSpaceTrajectory(), and onOrthogonalAllocation().
boost::optional<std::string> cl_move_group_interface::CbMoveEndEffectorTrajectory::tipLink_ |