ClearSnapshot Class

Sends a request to clear the existing Octomap and Pointcloud snapshots. More...

Declaration

class moveit_pro::behaviors::ClearSnapshot { ... }

Included Headers

#include <clear_snapshot.hpp>

Base class

class	ServiceClientBehaviorBase<ServiceT>
	A base class for behaviors which need to send a request to a ROS service client and wait for a result. More...

Public Constructors Index

	ClearSnapshot (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for the ClearSnapshot Behavior. More...

Private Member Functions Index

tl::expected< std::string, std::string >	getServiceName () override
	Returns the name of the service, which is a constant value for this behavior. More...
tl::expected< std_srvs::srv::Empty::Request, std::string >	createRequest () override
	Creates a std_srvs::srv::Empty::Request message. More...
tl::expected< bool, std::string >	processResponse (const std_srvs::srv::Empty::Response &response) override
	Publishes an Event message when the service response is received. More...
std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member. More...

Private Member Attributes Index

std::shared_ptr< rclcpp::Publisher< moveit_studio_agent_msgs::msg::Event > >	event_publisher_
	Publish an event to notify when a snapshot has been removed. More...
std::shared_future< tl::expected< bool, std::string > >	future_
	Classes derived from AsyncBehaviorBase must have this shared_future as a class member. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Returns list of ports for this behavior. Always empty for this node. More...
static BT::KeyValueVector	metadata ()

Description

Sends a request to clear the existing Octomap and Pointcloud snapshots.

Definition at line 21 of file clear_snapshot.hpp.

Public Constructors

ClearSnapshot()

moveit_pro::behaviors::ClearSnapshot::ClearSnapshot (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources)

explicit

Constructor for the ClearSnapshot Behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Declaration at line 30 of file clear_snapshot.hpp, definition at line 27 of file clear_snapshot.cpp.

Private Member Functions

createRequest()

tl::expected< std_srvs::srv::Empty::Request, std::string > moveit_pro::behaviors::ClearSnapshot::createRequest ()

inline virtual

Creates a std_srvs::srv::Empty::Request message.

Returns

Always returns the Empty::Request message.

Definition at line 55 of file clear_snapshot.hpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::ClearSnapshot::getFuture ()

inline virtual

Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Definition at line 71 of file clear_snapshot.hpp.

getServiceName()

tl::expected< std::string, std::string > moveit_pro::behaviors::ClearSnapshot::getServiceName ()

inline virtual

Returns the name of the service, which is a constant value for this behavior.

Returns

Always returns the constant service name.

Definition at line 46 of file clear_snapshot.hpp.

processResponse()

tl::expected< bool, std::string > moveit_pro::behaviors::ClearSnapshot::processResponse (const std_srvs::srv::Empty::Response & response)

Publishes an Event message when the service response is received.

Parameters

response

Unused, since Empty::Response contains no data.

Returns

Always returns True.

Declaration at line 65 of file clear_snapshot.hpp, definition at line 45 of file clear_snapshot.cpp.

Private Member Attributes

event_publisher_

std::shared_ptr<rclcpp::Publisher<moveit_studio_agent_msgs::msg::Event> > moveit_pro::behaviors::ClearSnapshot::event_publisher_

Publish an event to notify when a snapshot has been removed.

Definition at line 68 of file clear_snapshot.hpp.

future_

std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::ClearSnapshot::future_

Classes derived from AsyncBehaviorBase must have this shared_future as a class member.

Definition at line 77 of file clear_snapshot.hpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::ClearSnapshot::metadata ()

static

Declaration at line 39 of file clear_snapshot.hpp, definition at line 39 of file clear_snapshot.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::ClearSnapshot::providedPorts ()

static

Returns list of ports for this behavior. Always empty for this node.

Returns

BT::PortsList

Declaration at line 37 of file clear_snapshot.hpp, definition at line 34 of file clear_snapshot.cpp.

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

• clear_snapshot.hpp
• clear_snapshot.cpp

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