mc_control::fsm::EnableControllerState Struct Reference
#include <mc_control/fsm/states/EnableController.h>
Inheritance diagram for mc_control::fsm::EnableControllerState:
Collaboration diagram for mc_control::fsm::EnableControllerState:
Public Member Functions | |
| void | start (Controller &) override |
| bool | run (Controller &) override |
| void | teardown (Controller &) override |
 Public Member Functions inherited from mc_control::fsm::State | |
| virtual | ~State () |
| void | configure_ (const mc_rtc::Configuration &config) |
| void | start_ (Controller &ctl) |
| void | teardown_ (Controller &ctl) |
| virtual void | stop (Controller &) |
| virtual bool | read_msg (std::string &) |
| virtual bool | read_write_msg (std::string &, std::string &) |
| const std::string & | output () const noexcept |
| const std::string & | name () |
| void | name (const std::string &n) |
Additional Inherited Members | |
| Protected Member Functions inherited from mc_control::fsm::State | |
| void | output (const std::string &o) |
| virtual void | configure (const mc_rtc::Configuration &config) |
| Protected Attributes inherited from mc_control::fsm::State | |
| mc_rtc::Configuration | add_contacts_config_ |
| mc_rtc::Configuration | remove_contacts_config_ |
| mc_rtc::Configuration | add_contacts_after_config_ |
| mc_rtc::Configuration | remove_contacts_after_config_ |
| mc_rtc::Configuration | add_collisions_config_ |
| mc_rtc::Configuration | remove_collisions_config_ |
| mc_rtc::Configuration | add_collisions_after_config_ |
| mc_rtc::Configuration | remove_collisions_after_config_ |
| mc_rtc::Configuration | constraints_config_ |
| mc_rtc::Configuration | tasks_config_ |
| mc_rtc::Configuration | remove_posture_task_ |
| mc_rtc::Configuration | config_ |
| std::vector< mc_solver::ConstraintSetPtr > | constraints_ |
| std::vector< std::pair< mc_tasks::MetaTaskPtr, mc_rtc::Configuration > > | tasks_ |
| std::vector< mc_tasks::PostureTaskPtr > | postures_ |
Detailed Description
Implements a state that switches to a given controller
This state outputs "OK" if the switch succeeds but the next state only starts when you switch back to the controller that initiated the switch.
It outputs "Failed" if the switch fails (switching to an non-enabled controller).
Member Function Documentation
◆ run()
|
inlineoverridevirtual |
Called every iteration until it returns true
Implements mc_control::fsm::State.
◆ start()
|
overridevirtual |
Called before the state starts being run
This will be called only once with the state fully configured.
Implements mc_control::fsm::State.
◆ teardown()
|
inlineoverridevirtual |
Called right before destruction
Implements mc_control::fsm::State.
The documentation for this struct was generated from the following file:
- include/mc_control/fsm/states/EnableController.h
