HLR::Kinematics::ObjectMoveHandler Class Reference

Interface to send commands to the Kinematics component Executes actions on the robotarm based in the incoming messages. More...

#include <ObjectMoveHandler.hpp>

Collaboration diagram for HLR::Kinematics::ObjectMoveHandler:

Public Member Functions
	ObjectMoveHandler (RobotController &controller)
	Constructor. More...
virtual	~ObjectMoveHandler ()=default
	Destructor.
	ObjectMoveHandler (const ObjectMoveHandler &omh)=delete
	Copy constructor, deleted. More...
	ObjectMoveHandler (ObjectMoveHandler &&omh)=delete
	Move constructor, deleted. More...
ObjectMoveHandler &	operator= (const ObjectMoveHandler &omh)=delete
	Copy assignment operator, deleted. More...
ObjectMoveHandler &	operator= (ObjectMoveHandler &&omh)=delete
	Move assignment operator, deleted. More...
bool	object_move_start (HLR::ObjectMoveStart::Request &req, HLR::ObjectMoveStart::Response &res)
	Start moving (grabbing) the specified cup based on ID If already moving ID is added to queue and executed ASAP. More...
bool	object_move_cancel (HLR::ObjectMoveAction::Request &req, HLR::ObjectMoveAction::Response &res)
	Callback that is executed when the movement needs to be canceled Cup will be placed back on original position. More...
bool	object_move_continue (HLR::ObjectMoveAction::Request &req, HLR::ObjectMoveAction::Response &res)
	Callback that is executed when the moevement needs to be continue Continue can be used when the movement is stopped. More...
bool	object_move_stop (HLR::ObjectMoveAction::Request &req, HLR::ObjectMoveAction::Response &res)
	Callback that is executed when the movement needs to stop Stop can be used when a movement is performed. More...

Detailed Description

Interface to send commands to the Kinematics component Executes actions on the robotarm based in the incoming messages.

This class also exposes a ROS Topic called move_progress. It will publish the current progress of the action in percentage. Refer to: http://94.124.143.236/confluence/pages/viewpage.action?pageId=8356449 for more information.

Constructor & Destructor Documentation

HLR::Kinematics::ObjectMoveHandler::ObjectMoveHandler

(

RobotController &

controller

)

Constructor.

Parameters

controller

The injected robotController.

HLR::Kinematics::ObjectMoveHandler::ObjectMoveHandler ( const ObjectMoveHandler &  omh )

delete

Copy constructor, deleted.

Parameters

omh	ObjectMoveHandler

HLR::Kinematics::ObjectMoveHandler::ObjectMoveHandler ( ObjectMoveHandler &&  omh )

delete

Move constructor, deleted.

Parameters

omh	ObjectMoveHandler

Member Function Documentation

bool HLR::Kinematics::ObjectMoveHandler::object_move_cancel	(	HLR::ObjectMoveAction::Request &	req,
		HLR::ObjectMoveAction::Response &	res
	)

Callback that is executed when the movement needs to be canceled Cup will be placed back on original position.

Parameters

req	Request to cancel the operation
res	Reponse from service, OK or STATE

Returns

true True when state of action is stopped

false False for all other (invalid) states

bool HLR::Kinematics::ObjectMoveHandler::object_move_continue	(	HLR::ObjectMoveAction::Request &	req,
		HLR::ObjectMoveAction::Response &	res
	)

Callback that is executed when the moevement needs to be continue Continue can be used when the movement is stopped.

Parameters

req	Request to cancel the operation
res	Reponse from service, OK or STATE

Returns

true True when state of action is stopped

false False for all other (invalid) states

bool HLR::Kinematics::ObjectMoveHandler::object_move_start	(	HLR::ObjectMoveStart::Request &	req,
		HLR::ObjectMoveStart::Response &	res
	)

Start moving (grabbing) the specified cup based on ID If already moving ID is added to queue and executed ASAP.

Parameters

req	Cup ID
res	Result to write to

Returns

true True when completed

false False when failed

bool HLR::Kinematics::ObjectMoveHandler::object_move_stop	(	HLR::ObjectMoveAction::Request &	req,
		HLR::ObjectMoveAction::Response &	res
	)

Callback that is executed when the movement needs to stop Stop can be used when a movement is performed.

Parameters

req	Request to continue the operation
res	Reponse from service, OK or STATE

Returns

true True when state of action is continue

false False for all other (invalid) states

ObjectMoveHandler& HLR::Kinematics::ObjectMoveHandler::operator= ( const ObjectMoveHandler &  omh )

delete

Copy assignment operator, deleted.

Parameters

omh	ObjectMoveHandler

Returns

ObjectMoveHandler

ObjectMoveHandler& HLR::Kinematics::ObjectMoveHandler::operator= ( ObjectMoveHandler &&  omh )

delete

Move assignment operator, deleted.

Parameters

omh	ObjectMoveHandler

Returns

ObjectMoveHandler

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

• src/Kinematics/ObjectMoveHandler.hpp