mc_control::fsm::PythonState Struct Reference

#include <mc_control/fsm/PythonState.h>

Inheritance diagram for mc_control::fsm::PythonState:

Collaboration diagram for mc_control::fsm::PythonState:

Public Member Functions
void	configure (const mc_rtc::Configuration &config) override
void	start (Controller &ctl) override
bool	run (Controller &ctl) override
void	teardown (Controller &ctl) override
void	stop (Controller &ctl) override
const std::string &	output () const noexcept
void	output (const std::string &o)
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 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)

Public Attributes
std::function< void(const mc_rtc::Configuration &)>	configure_ = [](const mc_rtc::Configuration &) {}
std::function< void(Controller &)>	start_ = [](Controller &) {}
std::function< bool(Controller &)>	run_ = [](Controller &) { return false; }
std::function< void(Controller &)>	teardown_ = [](Controller &) {}
std::function< void(Controller &)>	stop_ = [](Controller &) {}
std::function< bool()>	handle_python_error

Additional Inherited Members
Protected Member Functions inherited from mc_control::fsm::State
void	output (const std::string &o)
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_

Detailed Description

Provides an interface for the Python bindings to fill-out

Member Function Documentation

configure()

void mc_control::fsm::PythonState::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.

output() [1/2]

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

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

inline

Output setter for derived classes

run()

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

overridevirtual

Called every iteration until it returns true

Implements mc_control::fsm::State.

start()

void mc_control::fsm::PythonState::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.

stop()

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

overridevirtual

Called if the state is interrupted

Reimplemented from mc_control::fsm::State.

teardown()

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

overridevirtual

Called right before destruction

Implements mc_control::fsm::State.

Member Data Documentation

configure_

std::function<void(const mc_rtc::Configuration &)> mc_control::fsm::PythonState::configure_ = [](const mc_rtc::Configuration &) {}

handle_python_error

std::function<bool()> mc_control::fsm::PythonState::handle_python_error

run_

std::function<bool(Controller &)> mc_control::fsm::PythonState::run_ = [](Controller &) { return false; }

start_

std::function<void(Controller &)> mc_control::fsm::PythonState::start_ = [](Controller &) {}

stop_

std::function<void(Controller &)> mc_control::fsm::PythonState::stop_ = [](Controller &) {}

teardown_

std::function<void(Controller &)> mc_control::fsm::PythonState::teardown_ = [](Controller &) {}

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

• include/mc_control/fsm/PythonState.h