cl_move_group_interface::ClMoveGroup Class Reference

#include <cl_movegroup.h>

Inheritance diagram for cl_move_group_interface::ClMoveGroup:

Collaboration diagram for cl_move_group_interface::ClMoveGroup:

Public Member Functions
	ClMoveGroup (std::string groupName)
virtual	~ClMoveGroup ()
void	postEventMotionExecutionSucceded ()
void	postEventMotionExecutionFailed ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TCallback , typename T >
boost::signals2::connection	onMotionExecutionSuccedded (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onMotionExecutionFailed (TCallback callback, T *object)
Public Member Functions inherited from smacc::ISmaccClient
	ISmaccClient ()
virtual	~ISmaccClient ()
virtual void	initialize ()
virtual std::string	getName () const
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TComponent >
TComponent *	getComponent ()
template<typename TComponent >
TComponent *	getComponent (std::string name)
virtual smacc::introspection::TypeInfo::Ptr	getType ()
ISmaccStateMachine *	getStateMachine ()
template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::*callback)(), T *object)
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)

Public Attributes
moveit::planning_interface::MoveGroupInterface	moveGroupClientInterface
moveit::planning_interface::PlanningSceneInterface	planningSceneInterface

Private Attributes
std::function< void()>	postEventMotionExecutionSucceded_
std::function< void()>	postEventMotionExecutionFailed_
smacc::SmaccSignal< void()>	onSucceded_
smacc::SmaccSignal< void()>	onFailed_

Additional Inherited Members
Protected Member Functions inherited from smacc::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)
void	setStateMachine (ISmaccStateMachine *stateMachine)
void	setOrthogonal (ISmaccOrthogonal *orthogonal)
Protected Attributes inherited from smacc::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc::ISmaccComponent > >	components_

Detailed Description

Definition at line 61 of file cl_movegroup.h.

Constructor & Destructor Documentation

ClMoveGroup()

cl_move_group_interface::ClMoveGroup::ClMoveGroup

(

std::string

groupName

)

Definition at line 11 of file cl_movegroup.cpp.

    : moveGroupClientInterface(groupName)
{
    ros::WallDuration(10.0).sleep();
}

~ClMoveGroup()

cl_move_group_interface::ClMoveGroup::~ClMoveGroup ( )

virtual

Definition at line 17 of file cl_movegroup.cpp.

{
}

Member Function Documentation

onMotionExecutionFailed()

template<typename TCallback , typename T >

boost::signals2::connection cl_move_group_interface::ClMoveGroup::onMotionExecutionFailed ( TCallback  callback, T *  object  )

inline

Definition at line 106 of file cl_movegroup.h.

  {
    return this->getStateMachine()->createSignalConnection(onFailed_, callback, object);
  }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

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onMotionExecutionSuccedded()

template<typename TCallback , typename T >

boost::signals2::connection cl_move_group_interface::ClMoveGroup::onMotionExecutionSuccedded ( TCallback  callback, T *  object  )

inline

Definition at line 100 of file cl_movegroup.h.

  {
    return this->getStateMachine()->createSignalConnection(onSucceded_, callback, object);
  }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_move_group_interface::ClMoveGroup::onOrthogonalAllocation ( )

inline

Definition at line 86 of file cl_movegroup.h.

  {
    postEventMotionExecutionSucceded_ = [=]() {
      this->onSucceded_();
      this->postEvent<EvMoveGroupMotionExecutionSucceded<TSourceObject, TOrthogonal>>();
    };
 
    postEventMotionExecutionFailed_ = [=]() {
      this->onFailed_();
      this->postEvent<EvMoveGroupMotionExecutionFailed<TSourceObject, TOrthogonal>>();
    };
  }

References onFailed_, onSucceded_, postEventMotionExecutionFailed_, and postEventMotionExecutionSucceded_.

postEventMotionExecutionFailed()

void cl_move_group_interface::ClMoveGroup::postEventMotionExecutionFailed

(

)

Definition at line 27 of file cl_movegroup.cpp.

{
    ROS_INFO("[ClMoveGroup] Post Motion Failure Event");
    postEventMotionExecutionFailed_();
}

References postEventMotionExecutionFailed_.

Referenced by cl_move_group_interface::CbMoveJoints::moveJoints(), cl_move_group_interface::CbMoveEndEffectorRelative::moveRelative(), cl_move_group_interface::CbMoveCartesianRelative::moveRelativeCartesian(), cl_move_group_interface::CbMoveEndEffector::moveToAbsolutePose(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onEntry(), and cl_move_group_interface::CbMoveEndEffectorTrajectory::onOrthogonalAllocation().

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postEventMotionExecutionSucceded()

void cl_move_group_interface::ClMoveGroup::postEventMotionExecutionSucceded

(

)

Definition at line 21 of file cl_movegroup.cpp.

{
    ROS_INFO("[ClMoveGroup] Post Motion Success Event");
    postEventMotionExecutionSucceded_();
}

References postEventMotionExecutionSucceded_.

Referenced by cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_move_group_interface::CbMoveJoints::moveJoints(), cl_move_group_interface::CbMoveEndEffectorRelative::moveRelative(), cl_move_group_interface::CbMoveCartesianRelative::moveRelativeCartesian(), and cl_move_group_interface::CbMoveEndEffector::moveToAbsolutePose().

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Member Data Documentation

moveGroupClientInterface

moveit::planning_interface::MoveGroupInterface cl_move_group_interface::ClMoveGroup::moveGroupClientInterface

Definition at line 74 of file cl_movegroup.h.

Referenced by cl_move_group_interface::CbCircularPivotMotion::computeCurrentEndEffectorPoseRelativeToPivot(), cl_move_group_interface::CbMoveEndEffectorTrajectory::computeJointSpaceTrajectory(), cl_move_group_interface::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_move_group_interface::CbMoveEndEffectorTrajectory::getCurrentEndEffectorPose(), cl_move_group_interface::CbMoveNamedTarget::getNamedTargetValues(), cl_move_group_interface::CbAttachObject::onEntry(), cl_move_group_interface::CbDetachObject::onEntry(), cl_move_group_interface::CbEndEffectorRotate::onEntry(), cl_move_group_interface::CbMoveCartesianRelative::onEntry(), cl_move_group_interface::CbMoveEndEffector::onEntry(), cl_move_group_interface::CbMoveEndEffectorRelative::onEntry(), cl_move_group_interface::CbMoveJoints::onEntry(), and cl_move_group_interface::CbMoveNamedTarget::onEntry().

onFailed_

smacc::SmaccSignal<void()> cl_move_group_interface::ClMoveGroup::onFailed_

private

Definition at line 68 of file cl_movegroup.h.

Referenced by onOrthogonalAllocation().

onSucceded_

smacc::SmaccSignal<void()> cl_move_group_interface::ClMoveGroup::onSucceded_

private

Definition at line 67 of file cl_movegroup.h.

Referenced by onOrthogonalAllocation().

planningSceneInterface

moveit::planning_interface::PlanningSceneInterface cl_move_group_interface::ClMoveGroup::planningSceneInterface

Definition at line 76 of file cl_movegroup.h.

Referenced by cl_move_group_interface::CbMoveEndEffector::moveToAbsolutePose(), cl_move_group_interface::CbAttachObject::onEntry(), and cl_move_group_interface::CbDetachObject::onEntry().

postEventMotionExecutionFailed_

std::function<void()> cl_move_group_interface::ClMoveGroup::postEventMotionExecutionFailed_

private

Definition at line 65 of file cl_movegroup.h.

Referenced by onOrthogonalAllocation(), and postEventMotionExecutionFailed().

postEventMotionExecutionSucceded_

std::function<void()> cl_move_group_interface::ClMoveGroup::postEventMotionExecutionSucceded_

private

Definition at line 64 of file cl_movegroup.h.

Referenced by onOrthogonalAllocation(), and postEventMotionExecutionSucceded().

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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/cl_movegroup.h
• smacc_client_library/move_group_interface_client/src/move_group_interface_client/cl_movegroup.cpp