#include <cp_trajectory_history.h>

Inheritance diagram for cl_move_group_interface::CpTrajectoryHistory:

Collaboration diagram for cl_move_group_interface::CpTrajectoryHistory:

Public Member Functions
bool	getLastTrajectory (int backIndex, moveit_msgs::RobotTrajectory &trajectory)

bool	getLastTrajectory (moveit_msgs::RobotTrajectory &trajectory)

void	pushTrajectory (std::string name, const moveit_msgs::RobotTrajectory &trajectory, moveit_msgs::MoveItErrorCodes result)

Public Member Functions inherited from smacc::ISmaccComponent
	ISmaccComponent ()

virtual	~ISmaccComponent ()

virtual std::string	getName () const

Private Attributes
std::vector< TrajectoryHistoryEntry >	trajectoryHistory_

Additional Inherited Members
Protected Member Functions inherited from smacc::ISmaccComponent
virtual void	initialize (ISmaccClient *owner)

void	setStateMachine (ISmaccStateMachine *stateMachine)

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage)

template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)

virtual void	onInitialize ()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)

Protected Attributes inherited from smacc::ISmaccComponent
ISmaccStateMachine *	stateMachine_

ISmaccClient *	owner_

Detailed Description

Definition at line 23 of file cp_trajectory_history.h.

Member Function Documentation

◆ getLastTrajectory() [1/2]

bool cl_move_group_interface::CpTrajectoryHistory::getLastTrajectory	(	int	backIndex,
		moveit_msgs::RobotTrajectory &	trajectory
	)

Definition at line 12 of file cp_trajectory_history.cpp.

    {
        if (trajectoryHistory_.size() == 0 )
        {
            return false;
        }
 
        if (backIndex < 0)
        {
            backIndex = 0;
        }
        else if(backIndex >= this->trajectoryHistory_.size())
        {
            return false;
        }
 
        trajectory = this->trajectoryHistory_[this->trajectoryHistory_.size() - 1 - backIndex].trajectory;
        return true;
    }

References trajectoryHistory_.

Referenced by getLastTrajectory(), cl_move_group_interface::CbExecuteLastTrajectory::onEntry(), cl_move_group_interface::CbMoveLastTrajectoryInitialState::onEntry(), and cl_move_group_interface::CbUndoLastTrajectory::onEntry().

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◆ getLastTrajectory() [2/2]

bool cl_move_group_interface::CpTrajectoryHistory::getLastTrajectory ( moveit_msgs::RobotTrajectory & trajectory )

Definition at line 32 of file cp_trajectory_history.cpp.

    {
        return getLastTrajectory(-1, trajectory);
    }

References getLastTrajectory().

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◆ pushTrajectory()

void cl_move_group_interface::CpTrajectoryHistory::pushTrajectory	(	std::string	name,
		const moveit_msgs::RobotTrajectory &	trajectory,
		moveit_msgs::MoveItErrorCodes	result
	)

Definition at line 37 of file cp_trajectory_history.cpp.

    {
        TrajectoryHistoryEntry entry;
        this->trajectoryHistory_.push_back(entry);
 
        auto &last = this->trajectoryHistory_.back();
        last.trajectory = trajectory;
        last.result = result;
        last.name = name;
    }

References trajectoryHistory_.

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

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Member Data Documentation

◆ trajectoryHistory_

std::vector<TrajectoryHistoryEntry> cl_move_group_interface::CpTrajectoryHistory::trajectoryHistory_

private

Definition at line 34 of file cp_trajectory_history.h.

Referenced by getLastTrajectory(), and pushTrajectory().

The documentation for this class was generated from the following files:

smacc_client_library/move_group_interface_client/include/move_group_interface_client/components/cp_trajectory_history.h
smacc_client_library/move_group_interface_client/src/move_group_interface_client/components/cp_trajectory_history.cpp

Public Member Functions

Private Attributes