cl_move_group_interface::CbMoveKnownState Class Reference

#include <cb_move_known_state.h>

Inheritance diagram for cl_move_group_interface::CbMoveKnownState:

Collaboration diagram for cl_move_group_interface::CbMoveKnownState:

Public Member Functions
	CbMoveKnownState (std::string pkg, std::string config_path)
virtual	~CbMoveKnownState ()
Public Member Functions inherited from cl_move_group_interface::CbMoveJoints
	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 ()

Static Private Member Functions
static std::map< std::string, double >	loadJointStatesFromFile (std::string pkg, std::string filepath)

Additional Inherited Members
Public Attributes inherited from cl_move_group_interface::CbMoveJoints
boost::optional< double >	scalingFactor_
std::map< std::string, double >	jointValueTarget_
boost::optional< std::string >	group_
Protected Member Functions inherited from cl_move_group_interface::CbMoveJoints
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 inherited from cl_move_group_interface::CbMoveJoints
ClMoveGroup *	movegroupClient_

Detailed Description

Definition at line 15 of file cb_move_known_state.h.

Constructor & Destructor Documentation

CbMoveKnownState()

cl_move_group_interface::CbMoveKnownState::CbMoveKnownState	(	std::string	pkg,
		std::string	config_path
	)

Definition at line 15 of file cb_move_known_state.cpp.

  : CbMoveJoints(loadJointStatesFromFile(pkg, config_path))
{
}

~CbMoveKnownState()

cl_move_group_interface::CbMoveKnownState::~CbMoveKnownState ( )

virtual

Definition at line 20 of file cb_move_known_state.cpp.

{
 
}

Member Function Documentation

loadJointStatesFromFile()

std::map< std::string, double > cl_move_group_interface::CbMoveKnownState::loadJointStatesFromFile ( std::string  pkg, std::string  filepath  )

staticprivate

Definition at line 27 of file cb_move_known_state.cpp.

{
  auto pkgpath = ros::package::getPath(pkg);
  std::map<std::string, double> jointStates;
 
  if(pkgpath == "")
  {
    ROS_ERROR_STREAM("[CbMoveKnownState] package not found for the known poses file: " << pkg << std::endl << " [IGNORING BEHAVIOR]");
    return jointStates;
  }
 
  filepath =  pkgpath +"/" + filepath;
 
 
  ROS_INFO("[CbMoveKnownState] Opening file with joint known state: %s",  filepath.c_str());
 
 
  if(std::experimental::filesystem::exists(filepath))
  {
    ROS_INFO_STREAM("[CbMoveKnownState] known state file exists: " << filepath);
  }
  else
  {
    ROS_ERROR_STREAM("[CbMoveKnownState] known state file does not exists: " << filepath);
  }
 
  std::ifstream ifs(filepath.c_str(), std::ifstream::in);
  if (ifs.good() == false)
  {
    ROS_ERROR("[CbMoveKnownState] Error opening file with joint known states: %s",  filepath.c_str());
    throw std::string("joint state files not found");
  }
 
  try
  {
#ifdef HAVE_NEW_YAMLCPP
    YAML::Node node = YAML::Load(ifs);
#else
    YAML::Parser parser(ifs);
    parser.GetNextDocument(node);
#endif
 
#ifdef HAVE_NEW_YAMLCPP
    const YAML::Node &wp_node_tmp = node["joint_states"];
    const YAML::Node *wp_node = wp_node_tmp ? &wp_node_tmp : NULL;
#else
    const YAML::Node *wp_node = node.FindValue("waypoints");
#endif
 
    if (wp_node != NULL)
    {
      try
      {
        for(YAML::const_iterator it=wp_node->begin();it != wp_node->end();++it)
        {
          std::string key = it->first.as<std::string>();
          double value = it->second.as<double>();
          ROS_DEBUG_STREAM(" joint - " << key << ": " << value);
          jointStates[key] = value;
        }
 
        return jointStates;
      }
      catch(std::exception& ex)
      {
        ROS_ERROR("trying to convert to map, failed, errormsg: %s", ex.what());
      }
 
      ROS_INFO_STREAM("Parsed " << jointStates.size() << " joint entries.");
    }
    else
    {
      ROS_WARN_STREAM("Couldn't find any jointStates in the provided yaml file.");
    }
  }
  catch (const YAML::ParserException &ex)
  {
    ROS_ERROR_STREAM("Error loading the Waypoints YAML file. Incorrect syntax: " << ex.what());
  }
  return jointStates;
}

---

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_known_state.h
• smacc_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_move_known_state.cpp