MetaTasks.h

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/*
 * Copyright 2015-2020 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/CompletionCriteria.h>
#include <mc_control/fsm/State.h>
#include <mc_tasks/MetaTask.h>
 
namespace mc_control
{
 
namespace fsm
{
 
struct MC_CONTROL_FSM_STATE_DLLAPI MetaTasksState : State
{
  void configure(const mc_rtc::Configuration & config) override;
 
  void start(Controller &) override;
 
  bool run(Controller &) override;
 
  void teardown(Controller &) override;
 
protected:
  std::vector<std::string> outputCrit_;
  struct TaskCriteria
  {
    // Index of the task in tasks_ vector
    size_t idx{0};
    // Completion criteria
    mc_control::CompletionCriteria criteria;
    // Whether this criteria appears in the output
    bool use_output{false};
  };
  std::map<std::string, TaskCriteria> criterias_;
  bool finished_first_ = false;
};
 
} // namespace fsm
 
} // namespace mc_control