mc_control::fsm::ParallelState Struct Reference

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

Inheritance diagram for mc_control::fsm::ParallelState:

Collaboration diagram for mc_control::fsm::ParallelState:

Classes
struct	DelayedState

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
bool	read_write_msg (std::string &msg, std::string &out) override
std::vector< std::string >	states () 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)
const std::string &	output () const noexcept
const std::string &	name ()
void	name (const std::string &n)

Protected Attributes
double	time_ = 0
std::vector< DelayedState >	states_
std::vector< std::string >	outputStates_
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)
virtual void	configure (const mc_rtc::Configuration &config)

Detailed Description

Implements parallel states

This states plays multiple states at once. Strictly speaking those states are not played in parallel but rather sequentially.

If this state plays {state_1, ..., state_N}. The state is completed when all state_i::run() function returns true and its output is state_N output.

Configuration entries:

• states: list of states run by this state
• delays: delay the start of the given state(s) by the given time (in seconds)
• configs: for each state in states, configs(state) is used to further configure state

Example:

{ "states": [ "StateA", "StateB", "StateC" ], // Play StateA, StateB and StateC "delays": { "StateA": 1.0 }, // StateA will start one second after StateB and StateC "configs: { "StateB": {} } }

Member Function Documentation

configs()

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

(

)

const

read_msg()

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

overridevirtual

Handle read service call

Reimplemented from mc_control::fsm::State.

read_write_msg()

bool mc_control::fsm::ParallelState::read_write_msg ( std::string &  , std::string &    )

overridevirtual

Handle read/write service call

Reimplemented from mc_control::fsm::State.

run()

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

overridevirtual

Called every iteration until it returns true

Implements mc_control::fsm::State.

start()

void mc_control::fsm::ParallelState::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.

states()

std::vector<std::string> mc_control::fsm::ParallelState::states

(

)

const

stop()

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

overridevirtual

Called if the state is interrupted

Reimplemented from mc_control::fsm::State.

teardown()

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

overridevirtual

Called right before destruction

Implements mc_control::fsm::State.

Member Data Documentation

finished_first_

bool mc_control::fsm::ParallelState::finished_first_ = false

protected

outputStates_

std::vector<std::string> mc_control::fsm::ParallelState::outputStates_

protected

States used to generate the output. If multiple states output are used, they will generated according to the following pattern: State1: (State1 output), State2: (State2 output)

states_

std::vector<DelayedState> mc_control::fsm::ParallelState::states_

protected

time_

double mc_control::fsm::ParallelState::time_ = 0

protected

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

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