mc_control::fsm::MetaTasksState Struct Reference

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

Inheritance diagram for mc_control::fsm::MetaTasksState:

Collaboration diagram for mc_control::fsm::MetaTasksState:

Classes
struct	TaskCriteria

Public Member Functions
void	configure (const mc_rtc::Configuration &config) override
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)

Protected Attributes
std::vector< std::string >	outputCrit_
std::map< std::string, TaskCriteria >	criterias_
bool	finished_first_ = false
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)

Detailed Description

Implements a generic tasks state

This tasks creates an arbitrary number of MetaTasks and executes them until completion criteria are fullfiled for each tasks.

The tasks in the state are configured through the "tasks" entry which a JSON object.

The keys are the name of the tasks and values are MetaTask objects as expected by MetaTaskLoader plus an optional "completion" criteria that represents one or more completion criteria.

The names of the tasks are only relevant for the state. You can override the actual task's name using the name entry in the Task's configuration.

If the "completion" entry is absent and if there is no existing completion entry for the related task then this task is added but not considered as part of the completion criteria (e.g. you can add a CoMTask and an EndEffectorTask but only care for the completion of the later).

When the "tasks" entry is read multiple times, the following ensues:

• if a new tasks appears then it is added
• if an existing task is not repeated, nothing happens for this task
• if a task already exists, existing configuration entries are overwriten by the new entry, non-existing configuration entries are simply added to the existing configuration Example:

# First pass, we simplify task entries for the sake of the example
{
  "tasks":
  {
     "t1":
     {
       "objectiveA": 0.5,
       "objectiveB": 1.0,
       "completion": { "timeout": 5.0 }
     }
  }
}
# After this pass, one task is considered
# Second pass
{
  "tasks":
  {
    "t1":
    {
      "objectiveA": 1.0,
      "completion": { "eval": 1e-6 }
    },
    "t2":
    {
      "objective": 0.5
    }
  }
}
# We now have two tasks, and:
# - t1's objectiveA is changed to 1.0, objectiveB is the same
# - t1 completion criteria is replaced
# Third pass
{
  "tasks":
  {
    "t1":
    {
      "completion": {}
    },
    "t2":
    {
      "completion": { "eval": 1e-6 }
    }
  }
}
# We still have two tasks, objectives are unchanged but:
- t1 has no more completion criteria
- t2 has a completion criteria

Member Function Documentation

configure()

void mc_control::fsm::MetaTasksState::configure ( const mc_rtc::Configuration &  config )

overridevirtual

Called to configure the state.

This is called multiple times:

• once for every level of state inheritance
• once with the executor configuration, this is the FSM global executor, the Meta state executor, the Parallel state or any state that handle other states

The default implementation simply loads the provided configuration into the config_ protected members. You can override this behavior to implement a more complex loading logic.

You can access this configuration either via the config_ variable

Reimplemented from mc_control::fsm::State.

run()

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

overridevirtual

Called every iteration until it returns true

Implements mc_control::fsm::State.

start()

void mc_control::fsm::MetaTasksState::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.

teardown()

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

overridevirtual

Called right before destruction

Implements mc_control::fsm::State.

Member Data Documentation

criterias_

std::map<std::string, TaskCriteria> mc_control::fsm::MetaTasksState::criterias_

protected

Completion criterias as a map index by task name

finished_first_

bool mc_control::fsm::MetaTasksState::finished_first_ = false

protected

True when the state has already been completed at least once

outputCrit_

std::vector<std::string> mc_control::fsm::MetaTasksState::outputCrit_

protected

Completion criterias used to generate the state's output

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

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