mc_control::fsm::StateFactory Class Reference

#include <mc_control/fsm/StateFactory.h>

Inheritance diagram for mc_control::fsm::StateFactory:

Collaboration diagram for mc_control::fsm::StateFactory:

Classes
struct	StateConfiguration

Public Member Functions
	StateFactory (const std::vector< std::string > &paths, const std::vector< std::string > &files, bool verbose)
void	load_libraries (const std::vector< std::string > &paths)
void	load_files (const std::vector< std::string > &files)
void	load (const std::map< std::string, mc_rtc::Configuration > &states)
void	load (const std::string &name, const std::string &base, const mc_rtc::Configuration &config)
StatePtr	create (const std::string &state, Controller &ctl, const mc_rtc::Configuration &config)
StatePtr	create (const std::string &state, Controller &ctl)
StatePtr	create (const std::string &state, const mc_rtc::Configuration &config)
StatePtr	create (const std::string &state)
bool	hasState (const std::string &state) const
const std::vector< std::string > &	states () const
bool	load_with_loader (const std::string &state)
template<typename RetT , typename... Args>
void	register_object (const std::string &name, std::function< RetT *(const Args &...)> callback)
const StateConfiguration &	configuration (const std::string &state) const
Public Member Functions inherited from mc_rtc::ObjectLoader< State >
	ObjectLoader (const std::string &class_name, const std::vector< std::string > &paths, bool verbose, Loader::callback_t cb=Loader::default_cb)
	~ObjectLoader ()
bool	has_object (const std::string &name) const
std::vector< std::string >	objects () const
void	load_libraries (const std::vector< std::string > &paths, Loader::callback_t cb=Loader::default_cb)
void	clear ()
void	set_verbosity (bool verbose)
void	register_object (const std::string &name, std::function< RetT *(const Args &...)> callback)
std::shared_ptr< T >	create_object (const std::string &name, Args... args)
std::string	get_object_runtime_directory (const std::string &name) const noexcept
unique_ptr	create_unique_object (const std::string &name, Args... args)

Additional Inherited Members
Public Types inherited from mc_rtc::ObjectLoader< State >
using	unique_ptr = std::unique_ptr< T, ObjectDeleter >
Protected Member Functions inherited from mc_rtc::ObjectLoader< State >
T *	create (const std::string &name, Args... args)
T *	create_from_handles (const std::string &name, Args... args)
T *	create_from_callbacks (const std::string &name, Args... args)
Protected Attributes inherited from mc_rtc::ObjectLoader< State >
std::string	class_name
bool	verbose
Loader::handle_map_t	handles_
mc_rtc::DataStore	callbacks_
std::unordered_map< std::string, ObjectDeleter >	deleters_

Detailed Description

Creates State objects based on name and configuration entries.

Also maintains a list of available states.

Constructor & Destructor Documentation

StateFactory()

mc_control::fsm::StateFactory::StateFactory	(	const std::vector< std::string > &	paths,
		const std::vector< std::string > &	files,
		bool	verbose
	)

Constructor

Parameters

paths	List of paths to load states libraries from
states	List of states files (json/yaml) to read states from

\bool verbose If true, output some warning information

Member Function Documentation

configuration()

const StateConfiguration& mc_control::fsm::StateFactory::configuration ( const std::string &  state ) const

inline

Returns the configuration of a specific state

create() [1/4]

StatePtr mc_control::fsm::StateFactory::create

(

const std::string &

state

)

Creates a state but does not start it

This is meant for tools working with the FSM

create() [2/4]

StatePtr mc_control::fsm::StateFactory::create	(	const std::string &	state,
		const mc_rtc::Configuration &	config
	)

Creates a and configures a state but does not start it

This is meant for tools working with the FSM

create() [3/4]

StatePtr mc_control::fsm::StateFactory::create	(	const std::string &	state,
		Controller &	ctl
	)

Creates a state without extra configuration

create() [4/4]

StatePtr mc_control::fsm::StateFactory::create	(	const std::string &	state,
		Controller &	ctl,
		const mc_rtc::Configuration &	config
	)

Creates a state given its name, the owning controller and configuration

The state must have been loaded previously (either as a library or through a state file. Otherwise the returned pointer is nullptr.

hasState()

bool mc_control::fsm::StateFactory::hasState

(

const std::string &

state

)

const

Query existence of a state

load() [1/2]

void mc_control::fsm::StateFactory::load

(

const std::map< std::string, mc_rtc::Configuration > &

states

)

Load from an mc_rtc::Configuration entry

load() [2/2]

void mc_control::fsm::StateFactory::load	(	const std::string &	name,
		const std::string &	base,
		const mc_rtc::Configuration &	config
	)

Load one state from a configuration entry

Can be used to build a state programatically

Parameters

name	Name of the new state provided by this configuration
base	Name of the state upon which this state should be based
config	New parameters' values

load_files()

void mc_control::fsm::StateFactory::load_files

(

const std::vector< std::string > &

files

)

Load more states files

load_libraries()

void mc_control::fsm::StateFactory::load_libraries

(

const std::vector< std::string > &

paths

)

Load more states libraries

load_with_loader()

bool mc_control::fsm::StateFactory::load_with_loader

(

const std::string &

state

)

Load state using a loader state, returns true if a state was loaded

register_object()

template<typename RetT , typename... Args>

void mc_control::fsm::StateFactory::register_object ( const std::string &  name, std::function< RetT *(const Args &...)>  callback  )

inline

Register a new loading function

Parameters

name	Name that will be used to create new instance
callback	Callback that will be used to create the object

Template Parameters

RetT	Must be derived from T

Exceptions

LoaderException

if the object is already registered

states()

const std::vector<std::string>& mc_control::fsm::StateFactory::states

(

)

const

Returns the list of loaded states

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

• include/mc_control/fsm/StateFactory.h