.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_move_group_interface_client_include_move_group_interface_client_client_behaviors_cb_move_end_effector_trajectory.hpp:

Program Listing for File cb_move_end_effector_trajectory.hpp
============================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_move_group_interface_client_include_move_group_interface_client_client_behaviors_cb_move_end_effector_trajectory.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_move_end_effector_trajectory.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    *****************************************************************************************************************/
   
   #pragma once
   
   #include <tf2/transform_datatypes.h>
   #include <move_group_interface_client/cl_movegroup.hpp>
   #include <moveit_msgs/srv/get_position_ik.hpp>
   #include <smacc2/smacc_asynchronous_client_behavior.hpp>
   #include <visualization_msgs/msg/marker_array.hpp>
   
   namespace cl_move_group_interface
   {
   template <typename AsyncCB, typename Orthogonal>
   struct EvJointDiscontinuity : sc::event<EvJointDiscontinuity<AsyncCB, Orthogonal>>
   {
     moveit_msgs::msg::RobotTrajectory trajectory;
   };
   
   template <typename AsyncCB, typename Orthogonal>
   struct EvIncorrectInitialPosition : sc::event<EvIncorrectInitialPosition<AsyncCB, Orthogonal>>
   {
     moveit_msgs::msg::RobotTrajectory trajectory;
   };
   
   enum class ComputeJointTrajectoryErrorCode
   {
     SUCCESS,
     INCORRECT_INITIAL_STATE,
     JOINT_TRAJECTORY_DISCONTINUITY
   };
   
   // this is a base behavior to define any kind of parametrized family of trajectories or motions
   class CbMoveEndEffectorTrajectory : public smacc2::SmaccAsyncClientBehavior,
                                       public smacc2::ISmaccUpdatable
   {
   public:
     // std::string tip_link_;
     std::optional<std::string> group_;
   
     std::optional<std::string> tipLink_;
   
     std::optional<bool> allowInitialTrajectoryStateJointDiscontinuity_;
   
     CbMoveEndEffectorTrajectory(std::optional<std::string> tipLink = std::nullopt);
   
     CbMoveEndEffectorTrajectory(
       const std::vector<geometry_msgs::msg::PoseStamped> & endEffectorTrajectory,
       std::optional<std::string> tipLink = std::nullopt);
   
     template <typename TOrthogonal, typename TSourceObject>
     void onOrthogonalAllocation()
     {
       this->initializeROS();
   
       smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
   
       postJointDiscontinuityEvent = [this](auto traj) {
         auto ev = new EvJointDiscontinuity<TSourceObject, TOrthogonal>();
         ev->trajectory = traj;
         this->postEvent(ev);
       };
   
       postIncorrectInitialStateEvent = [this](auto traj) {
         auto ev = new EvIncorrectInitialPosition<TSourceObject, TOrthogonal>();
         ev->trajectory = traj;
         this->postEvent(ev);
       };
   
       postMotionExecutionFailureEvents = [this] {
         RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] motion execution failed");
         movegroupClient_->postEventMotionExecutionFailed();
         this->postEvent<EvMoveGroupMotionExecutionFailed<TSourceObject, TOrthogonal>>();
       };
     }
   
     virtual void onEntry() override;
   
     virtual void onExit() override;
   
     virtual void update() override;
   
   protected:
     ComputeJointTrajectoryErrorCode computeJointSpaceTrajectory(
       moveit_msgs::msg::RobotTrajectory & computedJointTrajectory);
   
     void executeJointSpaceTrajectory(
       const moveit_msgs::msg::RobotTrajectory & computedJointTrajectory);
   
     virtual void generateTrajectory() = 0;
   
     virtual void createMarkers();
   
     std::vector<geometry_msgs::msg::PoseStamped> endEffectorTrajectory_;
   
     ClMoveGroup * movegroupClient_ = nullptr;
   
     visualization_msgs::msg::MarkerArray beahiorMarkers_;
   
     void getCurrentEndEffectorPose(
       std::string globalFrame, tf2::Stamped<tf2::Transform> & currentEndEffectorTransform);
   
   private:
     void initializeROS();
   
     rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr markersPub_;
   
     std::atomic<bool> markersInitialized_;
   
     rclcpp::Client<moveit_msgs::srv::GetPositionIK>::SharedPtr iksrv_;
   
     std::mutex m_mutex_;
   
     std::function<void(moveit_msgs::msg::RobotTrajectory &)> postJointDiscontinuityEvent;
     std::function<void(moveit_msgs::msg::RobotTrajectory &)> postIncorrectInitialStateEvent;
   
     std::function<void()> postMotionExecutionFailureEvents;
   
     bool autocleanmarkers = false;
   };
   }  // namespace cl_move_group_interface