mc_control::fsm::State Class Reference

#include <mc_control/fsm/State.h>

Inheritance diagram for mc_control::fsm::State:

Collaboration diagram for mc_control::fsm::State:

Public Member Functions
virtual	~State ()
void	configure_ (const mc_rtc::Configuration &config)
void	start_ (Controller &ctl)
void	teardown_ (Controller &ctl)
virtual bool	run (Controller &ctl)=0
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 Member Functions
void	output (const std::string &o)
virtual void	configure (const mc_rtc::Configuration &config)
virtual void	start (Controller &ctl)=0
virtual void	teardown (Controller &ctl)=0

Protected Attributes
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

A state of an FSM.

A state implementation should create, add and remove the tasks/constraints it needs, with the following exceptions:

• Contacts are handled at the global level, the state should go through the addContact/removeContact methods of FSMController
• Collision constraints are handled at the global level, the state should go through the addCollisons/removeCollisions methods of Controller
• Kinematics/Dynamics constraints are handled at the global level
• Posture tasks are handled at the global level, if a state removes a posture task from the solver, it should put it back afterwards

Notably, a state should not keep constraints or tasks it created active after the state finished its execution.

Every methods can be called in a real-time context. You should be aware of that, especially if you plan to have threads in your state (e.g. monitoring a ROS topic, waiting for data on the network...) then you should be especially careful when your state is destroyed.

The life-span of a state is:

• the state is constructed and init is called (iteration 0)
• run(...) is called until it returns true (iteration 1 to N)
• teardown(...) is called and the state is destructed (iteration N, after run last call)

The state might be interrupted (e.g. emergency behaviour triggered) in which case, stopped(...) will be called. The default implementation does nothing as teardown(...) is called anyway.

Constructor & Destructor Documentation

~State()

virtual mc_control::fsm::State::~State ( )

inlinevirtual

Member Function Documentation

configure()

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

protectedvirtual

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 in mc_control::fsm::MetaTasksState, mc_control::fsm::StabilizerStandingState, mc_control::fsm::PauseState, mc_control::fsm::MessageState, mc_control::fsm::PostureState, and mc_control::fsm::PythonState.

configure_()

void mc_control::fsm::State::configure_

(

const mc_rtc::Configuration &

config

)

Common implementation, handles the following options:

• AddContacts/RemoveContacts: add and remove contacts during the state's start
• AddContactsAfter/RemoveContactsAfter: add and remove contacts during the state's teardown
• AddCollisions/RemoveCollisions: add and remove collisions during the state's start
• AddCollisionsAfter/RemoveCollisionsAfter: add and remove collisions during the state's teardown
• RemovePostureTask: if true, remove the robot posture task at the state's start

name() [1/2]

const std::string& mc_control::fsm::State::name ( )

inline

Returns the name of the state

name() [2/2]

void mc_control::fsm::State::name ( const std::string &  n )

inline

output() [1/2]

const std::string& mc_control::fsm::State::output ( ) const

inlinenoexcept

Returns the output of the state, should only be consulted once run has returned true

output() [2/2]

void mc_control::fsm::State::output ( const std::string &  o )

inlineprotected

Output setter for derived classes

read_msg()

virtual bool mc_control::fsm::State::read_msg ( std::string &  )

inlinevirtual

Handle read service call

Reimplemented in mc_control::fsm::ParallelState, and mc_control::fsm::MetaState.

read_write_msg()

virtual bool mc_control::fsm::State::read_write_msg ( std::string &  , std::string &    )

inlinevirtual

Handle read/write service call

Reimplemented in mc_control::fsm::ParallelState.

run()

virtual bool mc_control::fsm::State::run ( Controller &  ctl )

pure virtual

Called every iteration until it returns true

Implemented in mc_control::fsm::PythonState, mc_control::fsm::MetaTasksState, mc_control::fsm::AddRemoveContactState, mc_control::fsm::Grippers, mc_control::fsm::StabilizerStandingState, mc_control::fsm::ParallelState, mc_control::fsm::MetaState, mc_control::fsm::HalfSittingState, mc_control::fsm::PauseState, mc_control::fsm::MessageState, mc_control::fsm::EnableControllerState, and mc_control::fsm::PostureState.

start()

virtual void mc_control::fsm::State::start ( Controller &  ctl )

protectedpure virtual

Called before the state starts being run

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

Implemented in mc_control::fsm::PythonState, mc_control::fsm::MetaTasksState, mc_control::fsm::AddRemoveContactState, mc_control::fsm::Grippers, mc_control::fsm::StabilizerStandingState, mc_control::fsm::ParallelState, mc_control::fsm::MetaState, mc_control::fsm::HalfSittingState, mc_control::fsm::PauseState, mc_control::fsm::MessageState, mc_control::fsm::EnableControllerState, and mc_control::fsm::PostureState.

start_()

void mc_control::fsm::State::start_

(

Controller &

ctl

)

Common implementation, takes care of common options

stop()

virtual void mc_control::fsm::State::stop ( Controller &  )

inlinevirtual

Called if the state is interrupted

Reimplemented in mc_control::fsm::PythonState, mc_control::fsm::ParallelState, and mc_control::fsm::MetaState.

teardown()

virtual void mc_control::fsm::State::teardown ( Controller &  ctl )

protectedpure virtual

Called right before destruction

Implemented in mc_control::fsm::PythonState, mc_control::fsm::MetaTasksState, mc_control::fsm::AddRemoveContactState, mc_control::fsm::Grippers, mc_control::fsm::ParallelState, mc_control::fsm::StabilizerStandingState, mc_control::fsm::MetaState, mc_control::fsm::HalfSittingState, mc_control::fsm::PauseState, mc_control::fsm::MessageState, mc_control::fsm::EnableControllerState, and mc_control::fsm::PostureState.

teardown_()

void mc_control::fsm::State::teardown_

(

Controller &

ctl

)

Common implementation, takes care of common options

Member Data Documentation

add_collisions_after_config_

mc_rtc::Configuration mc_control::fsm::State::add_collisions_after_config_

protected

AddCollisionsAfter in the configuration

add_collisions_config_

mc_rtc::Configuration mc_control::fsm::State::add_collisions_config_

protected

AddCollisions in the configuration

add_contacts_after_config_

mc_rtc::Configuration mc_control::fsm::State::add_contacts_after_config_

protected

AddContactsAfter in the configuration

add_contacts_config_

mc_rtc::Configuration mc_control::fsm::State::add_contacts_config_

protected

AddContacts in the configuration

config_

mc_rtc::Configuration mc_control::fsm::State::config_

protected

Configuration obtained through several calls

constraints_

std::vector<mc_solver::ConstraintSetPtr> mc_control::fsm::State::constraints_

protected

Constraints managed by the state if any

constraints_config_

mc_rtc::Configuration mc_control::fsm::State::constraints_config_

protected

constraints in the configuration

postures_

std::vector<mc_tasks::PostureTaskPtr> mc_control::fsm::State::postures_

protected

Posture tasks that were removed by this state

remove_collisions_after_config_

mc_rtc::Configuration mc_control::fsm::State::remove_collisions_after_config_

protected

RemoveCollisionsAfter in the configuration

remove_collisions_config_

mc_rtc::Configuration mc_control::fsm::State::remove_collisions_config_

protected

RemoveCollisions in the configuration

remove_contacts_after_config_

mc_rtc::Configuration mc_control::fsm::State::remove_contacts_after_config_

protected

RemoveContactsAfter in the configuration

remove_contacts_config_

mc_rtc::Configuration mc_control::fsm::State::remove_contacts_config_

protected

RemoveContacts in the configuration

remove_posture_task_

mc_rtc::Configuration mc_control::fsm::State::remove_posture_task_

protected

RemovePostureTask in the configuration

tasks_

std::vector<std::pair<mc_tasks::MetaTaskPtr, mc_rtc::Configuration> > mc_control::fsm::State::tasks_

protected

Tasks managed by the state if any

tasks_config_

mc_rtc::Configuration mc_control::fsm::State::tasks_config_

protected

tasks in the configuration

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

• include/mc_control/fsm/State.h