mc_control::fsm::MetaState Struct Reference

#include <mc_control/fsm/states/Meta.h>

Inheritance diagram for mc_control::fsm::MetaState:

Collaboration diagram for mc_control::fsm::MetaState:

Public Member Functions
void	start (Controller &) override
bool	run (Controller &) override
void	stop (Controller &) override
void	teardown (Controller &) override
bool	read_msg (std::string &msg) override
std::vector< std::vector< std::string > >	transitions () const
std::map< std::string, mc_rtc::Configuration >	configs () const
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 bool	read_write_msg (std::string &, std::string &)
const std::string &	output () const noexcept
const std::string &	name ()
void	name (const std::string &n)

Protected Attributes
Executor	executor_
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_

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)

Detailed Description

Implements a "meta" state

This states plays its own FSM.

Configuration entries:

• Managed: if true, does not handle transitions
• StepByStep: same as FSM for the internal FSM (default: false)
• transitions: a transition map, similiar to the FSM controller (required if Managed is false)
• category: an arrray of strings, dictates where the executor adds elements into the GUI
• configs: can contain additional configuration for the states in the FSM

Member Function Documentation

configs()

std::map<std::string, mc_rtc::Configuration> mc_control::fsm::MetaState::configs

(

)

const

read_msg()

bool mc_control::fsm::MetaState::read_msg ( std::string &  )

overridevirtual

Handle read service call

Reimplemented from mc_control::fsm::State.

run()

bool mc_control::fsm::MetaState::run ( Controller &  ctl )

overridevirtual

Called every iteration until it returns true

Implements mc_control::fsm::State.

start()

void mc_control::fsm::MetaState::start ( Controller &  ctl )

overridevirtual

Called before the state starts being run

This will be called only once with the state fully configured.

Implements mc_control::fsm::State.

stop()

void mc_control::fsm::MetaState::stop ( Controller &  )

overridevirtual

Called if the state is interrupted

Reimplemented from mc_control::fsm::State.

teardown()

void mc_control::fsm::MetaState::teardown ( Controller &  ctl )

overridevirtual

Called right before destruction

Implements mc_control::fsm::State.

transitions()

std::vector<std::vector<std::string> > mc_control::fsm::MetaState::transitions

(

)

const

Member Data Documentation

executor_

Executor mc_control::fsm::MetaState::executor_

protected

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

• include/mc_control/fsm/states/Meta.h