cl_move_group_interface::CbMoveJoints Class Reference

#include <cb_move_joints.h>

Inheritance diagram for cl_move_group_interface::CbMoveJoints:

Collaboration diagram for cl_move_group_interface::CbMoveJoints:

Public Member Functions
	CbMoveJoints ()
	CbMoveJoints (const std::map< std::string, double > &jointValueTarget)
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
boost::optional< double >	scalingFactor_
std::map< std::string, double >	jointValueTarget_
boost::optional< std::string >	group_

Protected Member Functions
void	moveJoints (moveit::planning_interface::MoveGroupInterface &moveGroupInterface)
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 16 of file cb_move_joints.h.

Constructor & Destructor Documentation

CbMoveJoints() [1/2]

cl_move_group_interface::CbMoveJoints::CbMoveJoints

(

)

Definition at line 16 of file cb_move_joints.cpp.

  {
  }

CbMoveJoints() [2/2]

cl_move_group_interface::CbMoveJoints::CbMoveJoints

(

const std::map< std::string, double > &

jointValueTarget

)

Definition at line 12 of file cb_move_joints.cpp.

                                                                              : jointValueTarget_(jointValueTarget)
  {
  }

Member Function Documentation

moveJoints()

void cl_move_group_interface::CbMoveJoints::moveJoints ( moveit::planning_interface::MoveGroupInterface &  moveGroupInterface )

protected

Definition at line 53 of file cb_move_joints.cpp.

  {
    if (scalingFactor_)
      moveGroupInterface.setMaxVelocityScalingFactor(*scalingFactor_);
 
    bool success;
    moveit::planning_interface::MoveGroupInterface::Plan computedMotionPlan;
 
    if (jointValueTarget_.size() == 0)
    {
      ROS_WARN("[CbMoveJoints] No joint was value specified. Skipping planning call.");
      success = false;
    }
    else
    {
      moveGroupInterface.setJointValueTarget(jointValueTarget_);
      //moveGroupInterface.setGoalJointTolerance(0.01);
      success = (moveGroupInterface.plan(computedMotionPlan) == moveit::core::MoveItErrorCode::SUCCESS);
      ROS_INFO_NAMED("CbMoveJoints", "Success Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");
    }
 
    if (success)
    {
      auto executionResult = moveGroupInterface.execute(computedMotionPlan);
 
      auto statestr = currentJointStatesToString(moveGroupInterface, jointValueTarget_);
 
      if (executionResult == moveit_msgs::MoveItErrorCodes::SUCCESS)
      {
        ROS_INFO_STREAM("[" << this->getName() << "] motion execution succeeded. Throwing success event. " << std::endl
                                                                                              << statestr);
        movegroupClient_->postEventMotionExecutionSucceded();
        this->postSuccessEvent();
      }
      else
      {
        ROS_WARN_STREAM("[" << this->getName() << "] motion execution failed. Throwing fail event." << std::endl
                                                                                       << statestr);
        movegroupClient_->postEventMotionExecutionFailed();
        this->postFailureEvent();
      }
    }
    else
    {
      auto statestr = currentJointStatesToString(moveGroupInterface, jointValueTarget_);
      ROS_WARN_STREAM("[" << this->getName() << "] motion execution failed. Throwing fail event." << std::endl << statestr);
      movegroupClient_->postEventMotionExecutionFailed();
      this->postFailureEvent();
    }
  }

References cl_move_group_interface::currentJointStatesToString(), smacc::ISmaccClientBehavior::getName(), jointValueTarget_, movegroupClient_, cl_move_group_interface::ClMoveGroup::postEventMotionExecutionFailed(), cl_move_group_interface::ClMoveGroup::postEventMotionExecutionSucceded(), smacc::SmaccAsyncClientBehavior::postFailureEvent(), smacc::SmaccAsyncClientBehavior::postSuccessEvent(), and scalingFactor_.

Referenced by onEntry().

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onEntry()

void cl_move_group_interface::CbMoveJoints::onEntry ( )

overridevirtual

Reimplemented from smacc::ISmaccClientBehavior.

Reimplemented in cl_move_group_interface::CbMoveLastTrajectoryInitialState.

Definition at line 20 of file cb_move_joints.cpp.

  {
    this->requiresClient(movegroupClient_);
 
    if (this->group_)
    {
      moveit::planning_interface::MoveGroupInterface move_group(*(this->group_));
      this->moveJoints(move_group);
    }
    else
    {
      this->moveJoints(movegroupClient_->moveGroupClientInterface);
    }
  }

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

Referenced by cl_move_group_interface::CbMoveLastTrajectoryInitialState::onEntry().

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onExit()

void cl_move_group_interface::CbMoveJoints::onExit ( )

overridevirtual

Reimplemented from smacc::ISmaccClientBehavior.

Definition at line 104 of file cb_move_joints.cpp.

  {
  }

Member Data Documentation

group_

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

Definition at line 21 of file cb_move_joints.h.

Referenced by onEntry().

jointValueTarget_

std::map<std::string, double> cl_move_group_interface::CbMoveJoints::jointValueTarget_

Definition at line 20 of file cb_move_joints.h.

Referenced by moveJoints(), and cl_move_group_interface::CbMoveLastTrajectoryInitialState::onEntry().

movegroupClient_

ClMoveGroup* cl_move_group_interface::CbMoveJoints::movegroupClient_

protected

Definition at line 30 of file cb_move_joints.h.

Referenced by moveJoints(), and onEntry().

scalingFactor_

boost::optional<double> cl_move_group_interface::CbMoveJoints::scalingFactor_

Definition at line 19 of file cb_move_joints.h.

Referenced by moveJoints().

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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_move_joints.h
• smacc_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_move_joints.cpp