yasmin_ros::TfBufferState Class Reference

State that creates a tf2 buffer and transform listener. More...

#include <tf_buffer_state.hpp>

Inheritance diagram for yasmin_ros::TfBufferState:

Collaboration diagram for yasmin_ros::TfBufferState:

Public Member Functions
	TfBufferState ()
	Shared pointer type for TfBufferState.
void	configure () override
	Read the configured parameters.
std::string	execute (yasmin::Blackboard::SharedPtr blackboard) override
	Create the tf2 buffer/listener pair and store them in the blackboard.
Public Member Functions inherited from yasmin::State
	State (const Outcomes &outcomes)
	Shared pointer type for State.
virtual	~State ()
	Virtual destructor.
Blackboard::SharedPtr	get_parameters_blackboard () const
	Gets the private parameter blackboard of this state.
bool	is_idle () const noexcept
	Checks if the state is idle.
bool	is_running () const noexcept
	Checks if the state is currently running.
bool	is_canceled () const noexcept
	Checks if the state has been canceled.
bool	is_completed () const noexcept
	Checks if the state has completed execution.
std::string	operator() (Blackboard::SharedPtr blackboard)
	Executes the state and returns the outcome.
virtual void	cancel_state ()
	Cancels the current state execution.
Outcomes const &	get_outcomes () const noexcept
	Gets the set of possible outcomes for this state.
void	set_description (const std::string &description)
	Sets the description for this state.
const std::string &	get_description () const
	Gets the description of this state.
void	set_outcome_description (const std::string &outcome, const std::string &description)
	Sets a human-readable description for an outcome.
const std::string &	get_outcome_description (const std::string &outcome) const
	Gets the human-readable description for an outcome.
const std::unordered_map< std::string, std::string > &	get_outcome_descriptions () const
	Gets all outcome descriptions.
void	add_input_key (const BlackboardKeyInfo &key_info)
	Adds an input key to the state's metadata.
void	add_input_key (const std::string &key_name)
	Adds an input key with a name only.
void	add_input_key (const std::string &key_name, const std::string &description)
	Adds an input key with a name and description.
template<typename T>
void	add_input_key (const std::string &key_name, const std::string &description, T default_value)
	Adds an input key with a name, default value and description.
void	add_output_key (const BlackboardKeyInfo &key_info)
	Adds an output key to the state's metadata.
void	add_output_key (const std::string &key_name)
	Adds an output key with a name only.
void	add_output_key (const std::string &key_name, const std::string &description)
	Adds an output key with a name and description.
const std::vector< BlackboardKeyInfo > &	get_input_keys () const
	Gets the input keys metadata.
const std::vector< BlackboardKeyInfo > &	get_output_keys () const
	Gets the output keys metadata.
void	declare_parameter (const BlackboardKeyInfo &parameter_info)
	Declares a parameter in the state metadata.
void	declare_parameter (const std::string &parameter_name)
	Declares a parameter with a name only.
void	declare_parameter (const std::string &parameter_name, const std::string &description)
	Declares a parameter with a name and description.
template<typename T>
void	declare_parameter (const std::string &parameter_name, const std::string &description, T default_value)
	Declares a parameter with a name, description, and default value.
bool	has_parameter (const std::string &parameter_name) const
	Checks if a parameter exists in the state-local parameter storage.
template<typename T>
T	get_parameter (const std::string &parameter_name) const
	Gets a parameter from the state-local parameter storage.
template<typename T>
void	set_parameter (const std::string &parameter_name, T value)
	Sets a parameter in the state-local parameter storage.
bool	is_parameter_declared (const std::string &parameter_name) const
	Checks whether a parameter was declared in the state metadata.
void	copy_parameter_from (const State &source_state, const std::string &source_parameter_name, const std::string &target_parameter_name)
	Copies a parameter value from another state.
const std::vector< BlackboardKeyInfo > &	get_parameters () const
	Gets the declared parameter metadata.
const StateMetadata &	get_metadata () const
	Gets the complete state metadata.
virtual std::string	to_string () const
	Converts the state to a string representation.

Private Attributes
rclcpp::Node::SharedPtr	node_
	Node used to create the tf2 listener subscriptions.
double	cache_time_sec_
	Buffer cache duration in seconds.

Additional Inherited Members
Protected Attributes inherited from yasmin::State
Outcomes	outcomes
	The possible outcomes of this state.

Detailed Description

State that creates a tf2 buffer and transform listener.

The created objects are stored in the blackboard under the keys "tf_buffer" and "tf_listener" so that following states can reuse the same listener for transform lookups.

Constructor & Destructor Documentation

TfBufferState()

yasmin_ros::TfBufferState::TfBufferState

(

)

Shared pointer type for TfBufferState.

Construct a new TfBufferState.

Member Function Documentation

configure()

void yasmin_ros::TfBufferState::configure ( )

overridevirtual

Read the configured parameters.

Reimplemented from yasmin::State.

execute()

std::string yasmin_ros::TfBufferState::execute ( yasmin::Blackboard::SharedPtr blackboard )

overridevirtual

Create the tf2 buffer/listener pair and store them in the blackboard.

Parameters

blackboard

Blackboard used to share the created objects.

Returns

The execution outcome.

Reimplemented from yasmin::State.

Member Data Documentation

cache_time_sec_

double yasmin_ros::TfBufferState::cache_time_sec_

private

Buffer cache duration in seconds.

node_

rclcpp::Node::SharedPtr yasmin_ros::TfBufferState::node_

private

Node used to create the tf2 listener subscriptions.

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

• yasmin_ros/include/yasmin_ros/tf_buffer_state.hpp
• yasmin_ros/src/yasmin_ros/tf_buffer_state.cpp