mc_control::fsm::TransitionMap Class Reference

#include <mc_control/fsm/TransitionMap.h>

Public Types
using	origin_t = std::pair< std::string, std::string >

Public Member Functions
std::pair< bool, Transition >	transition (const std::string &state, const std::string &output) const
std::unordered_set< std::string >	transitions (const std::string &state) const
void	init (const StateFactory &factory, const mc_rtc::Configuration &config)
const std::string &	initState () const
std::ostream &	print (std::ostream &os) const

Detailed Description

This class takes care of reading a transition map from a configuration entry and makes sure it's coherent with the states provided by the StateFactory.

A transition map is formed by entries of the form ["StateName", "OutputName", "NewStateName", "OptionalTriggerType"], e.g.:

• ["InitState", "OK", "GraspBar", "Strict"]
• ["GraspBar", "OK", "LiftLeftFoot", "StepByStep"]
• ["GraspBar", "NOK", "GraspBar", "Auto"]
• ["GraspBar", "DEFAULT", "GraspBar", "Auto"]

If the "DEFAULT" output is present, this transition will be returned in case no other output pattern has been matched.

Valid values for the trigger type are:

• "StepByStep": only require user input if running in StepByStep mode (default)
• "Auto": automatic transition no matter what
• "Strict": require user input no matter what

Member Typedef Documentation

origin_t

using mc_control::fsm::TransitionMap::origin_t = std::pair<std::string, std::string>

A (state, output) pair is the origin of a transition

Member Function Documentation

init()

void mc_control::fsm::TransitionMap::init	(	const StateFactory &	factory,
		const mc_rtc::Configuration &	config
	)

Build the map from a Configuration

The following entries are expected in config:

• init: initial state for this map (string)
• transitions: list of transitions as described in this documentation (array of strings' arrays)

If init is absent, defaults to the first state in transitions

Parameters

factory	The factory that will provie states
config	Holds the JSON representation of this transition map

initState()

const std::string& mc_control::fsm::TransitionMap::initState

(

)

const

Returns the initial state value

print()

std::ostream& mc_control::fsm::TransitionMap::print

(

std::ostream &

os

)

const

Print the map

transition()

std::pair<bool, Transition> mc_control::fsm::TransitionMap::transition	(	const std::string &	state,
		const std::string &	output
	)		const

Return a transition given a current state and its ouput

Parameters

state	The current state
output	The state's output

Returns

A pair made of a bool and a Transition:

• If the (state, output) has a registered next state, the bool is true and Transition returns the corresponding transition.
• Else, if the (state, DEFAULT) has a registered next state, the bool is true and Transition returns the corresponding transition
• Otherwise, the bool is false and the Transition has no meaning

transitions()

std::unordered_set<std::string> mc_control::fsm::TransitionMap::transitions

(

const std::string &

state

)

const

For a given state, gives all possible next states

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

• include/mc_control/fsm/TransitionMap.h