cl_move_group_interface::CbUndoLastTrajectory Class Reference

#include <cb_undo_last_trajectory.h>

Inheritance diagram for cl_move_group_interface::CbUndoLastTrajectory:

Collaboration diagram for cl_move_group_interface::CbUndoLastTrajectory:

Public Member Functions
	CbUndoLastTrajectory ()
	CbUndoLastTrajectory (int backIndex)
virtual	~CbUndoLastTrajectory ()
virtual void	onEntry () 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)

Private Attributes
int	backIndex_ = -1
moveit_msgs::RobotTrajectory	trajectory
moveit_msgs::RobotTrajectory	reversed

Additional Inherited Members
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::CbMoveEndEffectorTrajectory
std::vector< geometry_msgs::PoseStamped >	endEffectorTrajectory_
ClMoveGroup *	movegroupClient_ = nullptr
visualization_msgs::MarkerArray	beahiorMarkers_

Detailed Description

Definition at line 13 of file cb_undo_last_trajectory.h.

Constructor & Destructor Documentation

CbUndoLastTrajectory() [1/2]

cl_move_group_interface::CbUndoLastTrajectory::CbUndoLastTrajectory

(

)

Definition at line 12 of file cb_undo_last_trajectory.cpp.

    {
    }

CbUndoLastTrajectory() [2/2]

cl_move_group_interface::CbUndoLastTrajectory::CbUndoLastTrajectory

(

int

backIndex

)

Definition at line 16 of file cb_undo_last_trajectory.cpp.

        : backIndex_(backIndex)
    {
    }

~CbUndoLastTrajectory()

cl_move_group_interface::CbUndoLastTrajectory::~CbUndoLastTrajectory ( )

virtual

Definition at line 21 of file cb_undo_last_trajectory.cpp.

    {
    }

Member Function Documentation

onEntry()

void cl_move_group_interface::CbUndoLastTrajectory::onEntry ( )

overridevirtual

Reimplemented from cl_move_group_interface::CbMoveEndEffectorTrajectory.

Definition at line 25 of file cb_undo_last_trajectory.cpp.

    {
        CpTrajectoryHistory *trajectoryHistory;
        this->requiresComponent(trajectoryHistory);
        this->requiresClient(movegroupClient_);
 
        if (trajectoryHistory->getLastTrajectory(backIndex_, trajectory))
        {
            auto initialTime = trajectory.joint_trajectory.points.back().time_from_start;
 
            reversed = trajectory;
 
            std::reverse(reversed.joint_trajectory.points.begin(), reversed.joint_trajectory.points.end());
 
            for (auto &jp : reversed.joint_trajectory.points)
            {
                jp.time_from_start = ros::Duration(fabs(jp.time_from_start.toSec() - initialTime.toSec())); //ros::Duration(t);
            }
 
            this->executeJointSpaceTrajectory(reversed);
        }
    }

References backIndex_, cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_move_group_interface::CpTrajectoryHistory::getLastTrajectory(), cl_move_group_interface::CbMoveEndEffectorTrajectory::movegroupClient_, smacc::ISmaccClientBehavior::requiresClient(), smacc::ISmaccClientBehavior::requiresComponent(), reversed, and trajectory.

Here is the call graph for this function:

Member Data Documentation

backIndex_

int cl_move_group_interface::CbUndoLastTrajectory::backIndex_ = -1

private

Definition at line 24 of file cb_undo_last_trajectory.h.

Referenced by onEntry().

reversed

moveit_msgs::RobotTrajectory cl_move_group_interface::CbUndoLastTrajectory::reversed

private

Definition at line 27 of file cb_undo_last_trajectory.h.

Referenced by onEntry().

trajectory

moveit_msgs::RobotTrajectory cl_move_group_interface::CbUndoLastTrajectory::trajectory

private

Definition at line 26 of file cb_undo_last_trajectory.h.

Referenced by onEntry().

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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_undo_last_trajectory.h
• smacc_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_undo_last_trajectory.cpp