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Static Public Attributes
MoveJointsPosControl Class Reference
Inheritance diagram for MoveJointsPosControl:Public Member Functions | |
| MoveJointsPosControl (XMLStateConstructorParams stateData) | |
| void | onBreak () override |
| Virtual function, in which the behaviour of state is defined, when it is abnormally exited. Can be overridden, but it is optional. An abnormal exit only occurs in hierarchy-levels greater 1. When a parent state is left before the substates are finished, the OnBreak()-function is called in the active substate and in all it's active substates. If this function is not implemented, the normal OnExit()-function is called. More... | |
| void | onEnter () override |
| Virtual function, in which the behaviour of state is defined, when it is entered. Can be overridden, but it is optional. More... | |
| void | onExit () override |
| Virtual function, in which the behaviour of state is defined, when it is exited. Can be overridden, but it is optional. More... | |
| void | run () override |
| Virtual function, that can be reimplemented to calculate complex operations. More... | |
| Public Member Functions inherited from XMLStateTemplate< MoveJointsPosControl > | |
| XMLStateTemplate (const XMLStateConstructorParams ¶ms) | |
| Public Member Functions inherited from XMLState | |
| StatechartProfilePtr | getSelectedProfile () const |
| XMLState () | |
| XMLState (const XMLStateConstructorParams &stateData) | |
| ~XMLState () override | |
| Public Member Functions inherited from State | |
| virtual RemoteStatePtr | addDynamicRemoteState (std::string instanceName) |
| Function to add a new dynamic remote substate to this state. More... | |
| virtual RemoteStatePtr | addRemoteState (std::string stateName, std::string proxyName, std::string instanceName="") |
| Function to add a new remote substate to this state. More... | |
| StateBasePtr | addState (StateBasePtr pNewState) |
| template<> | |
| StatePtr | addState (std::string const &stateName) |
| template<> | |
| StatePtr | addState (std::string const &stateName) |
| template<class derivedState > | |
| IceInternal::Handle< derivedState > | addState (std::string const &stateName="") |
| Function to add a new substate to this state. Should be called in the defineState()-function. More... | |
| bool | addToInput (const std::string &key, const ContainerType &type, bool optional, VariantContainerBasePtr defaultValue=VariantContainerBasePtr()) |
| Adds a key,type-pair to the input parameters. More... | |
| bool | addToInput (const std::string &key, VariantTypeId type, bool optional, VariantPtr defaultValue=VariantPtr()) |
| Adds a new parameter list to the input parameters with a specific type. More... | |
| bool | addToLocal (const std::string &key, const ContainerType &type, VariantContainerBasePtr defaultValue=VariantContainerBasePtr()) |
| Adds a new parameter list to the local parameters with a specific type. More... | |
| bool | addToLocal (const std::string &key, VariantTypeId type, VariantPtr defaultValue=VariantPtr()) |
| Adds a key,type-pair to the local parameters. More... | |
| bool | addToOutput (const std::string &key, const ContainerType &type, bool optional) |
| Adds a new parameter list to the output parameters with a specific type. More... | |
| bool | addToOutput (const std::string &key, VariantTypeId type, bool optional) |
| Adds a key,type-pair to the output parameters. More... | |
| TransitionIceBase & | addTransition (EventPtr event, StateIceBasePtr sourceState, StateIceBasePtr destinationState, ParameterMappingIceBasePtr mappingToNextStatesInput=nullptr, ParameterMappingIceBasePtr mappingToParentStatesLocal=nullptr, ParameterMappingIceBasePtr mappingToParentStatesOutput=nullptr) |
| template<class EventType > | |
| TransitionIceBase & | addTransition (StateIceBasePtr sourceState, StateIceBasePtr destinationState, ParameterMappingIceBasePtr mappingToNextStatesInput=nullptr, ParameterMappingIceBasePtr mappingToParentStatesLocal=nullptr, ParameterMappingIceBasePtr mappingToParentStatesOutput=nullptr) |
| Function to add a new transition between to substates to this state. More... | |
| template<class EventType > | |
| TransitionIceBase & | addTransitionFromAllStates (StateIceBasePtr destinationState, ParameterMappingIceBasePtr mappingToNextStatesInput=nullptr, ParameterMappingIceBasePtr mappingToParentStatesLocal=nullptr, ParameterMappingIceBasePtr mappingToParentStatesOutput=nullptr) |
Function to add a new transition from all substates to destinationState. More... | |
| void | cancelSubstates () |
| Use this function in the onEnter() function, if you want to avoid that the substates (i.e. More... | |
| StateBasePtr | clone () const override |
| Generates a new copy of this state with the same statename, substates, transitions, overidden functions etc. More... | |
| StateBasePtr | createEmptyCopy () const override |
| Generates a new copy of this state with the same overidden functions. stateName, substates, transition etc. are not set. More... | |
| std::string | getGlobalIdString () const |
| Getter for the global state identifier string. More... | |
| unsigned int | getId () const |
| Returns an id to this state, that is guaranteed to be unique in this process. More... | |
| StateBasePtr | getInitState () const |
| Getter for the initial state. The initial state is automatically entered, when this state is entered. More... | |
| template<typename T > | |
| std::enable_if_t< std::is_base_of_v< VariantDataClass, T >, IceInternal::Handle< T > > | getInput (const std::string &key) const |
| getInput can be used to access a specific input parameter. More... | |
| template<typename T > | |
| std::enable_if_t< !(std::is_base_of_v< VariantDataClass, T >||std::is_base_of_v< VariantContainerBase, T >), T > | getInput (const std::string &key) const |
| getInput can be used to access a specific input parameter. More... | |
| VariantPtr | getInput (const std::string &key) const |
| getInput can be used to access a specific input parameter. More... | |
| StateParameterMap | getInputParameters () override |
| Returns a new copy of the inputparameters-dictionary, so that the caller cannot modify them (const won't work due to pointers). More... | |
| template<typename T > | |
| std::enable_if_t< std::is_base_of_v< VariantDataClass, T >, IceInternal::Handle< T > > | getLocal (const std::string &key) const |
| getLocal can be used to access a specific input parameter. More... | |
| template<typename T > | |
| std::enable_if_t< !(std::is_base_of_v< VariantDataClass, T >||std::is_base_of_v< VariantContainerBase, T >), T > | getLocal (const std::string &key) const |
| getLocal can be used to access a specific input parameter. More... | |
| VariantContainerBasePtr | getLocalContainer (std::string const &key) |
| StateParameterMap & | getLocalParameters () |
| Getter for the local parameter map. More... | |
| template<typename T > | |
| std::enable_if_t< std::is_base_of_v< VariantDataClass, T >, IceInternal::Handle< T > > | getOutput (const std::string &key) const |
| getOutput can be used to access a specific input parameter. More... | |
| template<typename T > | |
| std::enable_if_t< !(std::is_base_of_v< VariantDataClass, T >||std::is_base_of_v< VariantContainerBase, T >), T > | getOutput (const std::string &key) const |
| getOutput can be used to access a specific input parameter. More... | |
| StateParameterMap & | getOutputParameters () override |
| getter function to get the map of output parameters More... | |
| void | inheritInputFromSubstate (std::string stateName) |
| bool | init (StatechartContextInterface *context, StatechartManager *manager) |
| Function to initialize this state. Must be called in the highest level of the hierarchy - and only there. More... | |
| bool | isInputParameterSet (const std::string &key) const |
| Checks whether a given input parameter is set or not. More... | |
| bool | isLocalParameterSet (const std::string &key) const |
| bool | isOutputParameterSet (const std::string &key) const |
| bool | isUnbreakable () const |
| StateBasePtr | setInitState (StateBasePtr initState, ParameterMappingPtr initialStateMapping=ParameterMappingPtr()) |
| Sets the initial substate of this state. More... | |
| void | setInput (std::string const &key, const Variant &value) |
| setInput() sets an input parameter. More... | |
| void | setInput (std::string const &key, const VariantContainerBase &valueList) |
| setInput() sets an input parameter list. More... | |
| void | setLocal (std::string const &key, const Variant &value) |
| setLocal() sets a local parameter. More... | |
| void | setLocal (std::string const &key, const VariantContainerBase &valueList) |
| setLocal() sets a local parameter list. More... | |
| void | setOutput (std::string const &key, const Variant &value) |
| setOuput() sets an output parameter of this state. More... | |
| void | setOutput (std::string const &key, const VariantContainerBase &valueList) |
| setOuput() sets an output parameter LIST of this state. More... | |
| void | setStateClassNameFromTypeName (const std::string &typeName) |
| void | setStateName (const std::string &newName) |
| void | setUnbreakable (bool setUnbreakable=true) |
| With this function the state can be made unbreakable. More... | |
| void | setUseRunFunction (bool useRunFuntion) |
| setUseRunFunction can be used to configurate whether the thread with the async. More... | |
| Public Member Functions inherited from StateUtility | |
| template<class EventClass > | |
| EventPtr | createEvent () |
| Utility function to create a new Event. More... | |
| EventPtr | createEvent (const std::string &eventName, const StringVariantContainerBaseMap &properties=StringVariantContainerBaseMap()) |
| Utility function to create a new Event. More... | |
| Public Member Functions inherited from StateController | |
| bool | __applyMappings (const StateControllerPtr &srcState, const TransitionIceBase &t, const EventPtr &event, TransitionError &error) |
| Apply the mappings during a transitions. More... | |
| virtual bool | __breakActiveSubstate (const EventPtr event) |
| bool | __checkExistenceOfTransition (const TransitionIceBase &transition) |
| virtual void | __enqueueEvent (const EventPtr event) |
| virtual void | __finalize (const EventPtr event) |
| Function that gets called, when a state enters a FinalSubstate. Virtual function, so that RemoteStateWrapper can override it. More... | |
| bool | __findValidTransition (const EventPtr &event, const StateIceBasePtr &sourceState, TransitionIceBase &resultTransition, TransitionError &error) const |
| StateControllerPtr | __getParentState () const |
| Getter function that automatically casts the parentState member of StateBase into StateControllerPtr. More... | |
| virtual unsigned int | __getUnbreakableBufferSize () const |
| virtual bool | __getUnbreakableBufferStati () const |
| Before:Function to get the unbreakable-buffer status of all parent state - recursively. More... | |
| virtual void | __notifyEventBufferedDueToUnbreakableState (bool eventBuffered=true) |
| void | __printTransitionError (const TransitionError &transitionError, const EventPtr &event) const |
| virtual void | __processBufferedEvents () |
| Processes buffered events, that could not be processed immediately due to unbreakable substates. More... | |
| virtual void | __processEvent (const EventPtr event, bool buffered=false) |
| Main function to control the statemachine/state. More... | |
| virtual void | __substatesFinished (const EventPtr ev) |
| Function that gets called, when a state enters a FinalSubstate. Virtual function, so that RemoteStateWrapper can override it. More... | |
| TransitionError | __validateTransition (const TransitionIceBase &transition, const EventPtr event, const StateIceBasePtr &sourceState, const StateIceBasePtr &destinationState) const |
| void | __waitForRemoteStates () const |
| virtual bool | _baseOnBreak (const EventPtr evt) |
| Called by StateControllerprocessEvent()-function or parentstate. Must NOT be called by user. More... | |
| virtual void | _baseOnEnter () |
| Called by StateControllerprocessEvent()-function or parentstate. More... | |
| virtual void | _baseOnExit () |
| Called by StateController::processEvent()-function or parentstate. Must NOT be called by user. More... | |
| virtual void | _baseRun () |
| virtual void | _startRun () |
| void | addProfilerRecursive (Profiler::ProfilerPtr profiler, int recursiveLevels=0) |
| addProfilerRecursive recursively adds a new armarx::Profiler::Profiler object as armarx::StateController::localProfiler(the default one does not do anything at all). More... | |
| void | addTransitionFunction (const TransitionIceBase &t, transitionFunction function) |
| void | disableRunFunction () |
| disableRunFunction sets useRunFunction to false and waits (blocking) for the current StateBase::run() function to complete. More... | |
| void | disableStateReporting (bool disable=true) |
| Disables the reporting to profilers for this states during state visits. More... | |
| void | enter (const StringVariantContainerBaseMap &tempInputParameters=StringVariantContainerBaseMap()) |
| Function to set the statemachine in the first state and call OnEnter(). More... | |
| bool | findTransition (const std::string &eventName, const std::string sourceStateName, TransitionIceBase &transition) |
| std::string | getTransitionID (const std::string &eventName, const std::string sourceStateName) const |
| std::string | getTransitionID (const TransitionIceBase &t) const |
| bool | isFinished () const |
| bool | isRunningTaskFinished () const |
| Checks whether the run() function has already finished. More... | |
| bool | isRunningTaskStopped () const |
| isRunningTaskStopped checks whether the RunningTask, that executes run() is requested to stop. More... | |
| void | removeProfilerRecursive (Profiler::ProfilerPtr profiler, int recursiveLevels=0) |
| StateController () | |
| StateController (const StateController &source) | |
| void | waitForRunningTaskToFinish () const |
| Waits until the run-function has finished. More... | |
| void | waitForStateToFinish (int timeoutMs=-1) const |
| waitForStateToFinish waits until this thread has finished (i.e. More... | |
| ~StateController () override | |
| Public Member Functions inherited from StateBase | |
| void | __checkPhase (const std::vector< StatePhase > &allowedTypes, const char *functionName) const |
| void | __checkPhase (StatePhase allowedType, const char *functionName) const |
| Helper function for checking if a function was called in valid position of the statechart. More... | |
| void | __checkPhaseMin (StatePhase allowedType, const char *functionName) const |
| void | __copyDefaultValuesToInput () |
| StringVariantContainerBaseMap | __getSetInputAndLocalParameters () const |
| Combines both maps to one map and returns a new map of only the set parameters. More... | |
| virtual bool | __hasActiveSubstate () |
| Virtual function to indicate wheter a state has an active substate or not. To be overridden by RemoteState to deligate the call to the real state. More... | |
| virtual bool | __hasSubstates () |
| Virtual function to indicate wheter a state has substates or not. To be overridden by RemoteState to deligate the call to the real state. More... | |
| void | __setParentState (StateBase *parentState) |
| void | __throwUnknownParameter (const StateParameterMap ¶mMap, const std::string &key) const |
| void | __updateGlobalStateId () |
| virtual void | __updateGlobalStateIdRecursive () |
| bool | addParameter (StateParameterMap ¶mMap, const std::string &key, VariantTypeId type, bool optional, VariantPtr defaultValue=VariantPtr()) const |
| bool | addParameterContainer (StateParameterMap ¶mMap, const std::string &key, const ContainerType &containerType, bool optional, VariantContainerBasePtr defaultValue=VariantContainerBasePtr()) const |
| void | clearSelfPointer () |
| virtual void | deepCopy (const StateBase &sourceState, bool reset=true) |
| Function to copy the states with all it substates and transitions. More... | |
| virtual void | defineState () |
| Virtual function, in which this state can be configured. More... | |
| StateBasePtr | findSubstateByName (const std::string &substateName) |
| Utility function to find a substate of this state by the name. More... | |
| template<typename ContextType > | |
| ContextType * | getContext () const |
| StatechartContextInterface * | getContext (bool checkNULL=true) const |
| std::string | getGlobalHierarchyString () const |
| std::string | getLocalHierarchyString () const |
| Function to get a string that contains als parent states and this state. (e.g. "Robot->Functional->Idling") More... | |
| Ice::Int | getLocalUniqueId () const |
| void | getParameter (const StateParameterMap ¶mMap, const std::string &key, VariantPtr &value) const |
| void | getParameterContainer (const StateParameterMap ¶mMap, const std::string &key, VariantContainerBasePtr &valueContainer) const |
| const std::string & | getStateClassName () const |
| std::string | getStateName () const |
| getStateName More... | |
| StatePhase | getStatePhase () const |
| EventPtr | getTriggeredEndstateEvent () const |
| This function returns the event that was triggered by entering an endstate. More... | |
| void | inheritInputParameters () |
| bool | init (StatechartContextInterface *context, StatechartManager *manager) |
| Function to initialize this state. Must be called in the highest level of the hierarchy - and only there. More... | |
| virtual bool | isInitialized () const |
| Returns the status of this state. Only if a state is initialized, it can be used. More... | |
| bool | isParameterSet (const StateParameterMap ¶mMap, const std::string &key) const |
| StateBase & | operator= (const StateBase &source) |
| virtual void | refetchSubstates () |
| This functions updates the substates. More... | |
| void | reset () |
| Function to reset the state: clear name, clear substatesList, clear transition etc. More... | |
| void | setContext (StatechartContextInterface *context) |
| void | setInitialized (bool enable) |
| void | setParameter (StateParameterMap ¶mMap, const std::string &key, const Variant &variant) |
| void | setParameterContainer (StateParameterMap ¶mMap, const std::string &key, const VariantContainerBase &valueContainer) |
| void | setParameterContainer (StateParameterMap ¶mMap, const std::string &key, const VariantContainerBasePtr &valueContainer) |
| void | setStateClassName (std::string className) |
| setStateClassName() sets the string, that contains a stringrepresentation of this class. Should not be called usually. The classname gets automatically set in the constructor of the derived class StateTemplate<T>. More... | |
| void | setStatePhase (StatePhase newPhase) |
| StateBase () | |
| StateBase (const StateBase &source) | |
| virtual bool | waitForInitialization (int timeoutMS=-1) const |
| ~StateBase () override | |
| Public Member Functions inherited from Logging | |
| SpamFilterDataPtr | deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const |
| disables the logging for the current line for the given amount of seconds. More... | |
| MessageTypeT | getEffectiveLoggingLevel () const |
| Logging () | |
| void | setLocalMinimumLoggingLevel (MessageTypeT level) |
| With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More... | |
| void | setTag (const LogTag &tag) |
| void | setTag (const std::string &tagName) |
| virtual | ~Logging () |
| Public Member Functions inherited from AbstractFactoryMethod< XMLStateFactoryBase, XMLStateConstructorParams, XMLStateFactoryBasePtr > | |
| std::string | getClassName () |
| getClassName returns the name that this instance was generated with. More... | |
Static Public Member Functions | |
| static XMLStateFactoryBasePtr | CreateInstance (XMLStateConstructorParams stateData) |
| static std::string | GetName () |
| Static Public Member Functions inherited from StateBase | |
| static std::vector< StateBasePtr > | GetActiveStateLeafs (StateBasePtr toplevelState) |
| Static Public Member Functions inherited from AbstractFactoryMethod< XMLStateFactoryBase, XMLStateConstructorParams, XMLStateFactoryBasePtr > | |
| static SharedPointerType | createInstance (XMLStateConstructorParams) |
| Initialisation function which needs to be provided by every subclass. More... | |
| static SharedPointerType | fromName (const std::string &name, XMLStateConstructorParams params) |
| Function which can be used to retrieve an object specified by string name. More... | |
| static std::vector< std::string > | getAvailableClasses () |
| getAvailableClasses retrieves a list of all registered classes as their string-representation. More... | |
| static std::string | getName () |
| Returns the class's name. More... | |
| static void | registerClass (const std::string &name, initialisationFunction init) |
| Statically called by subclasses to register their name and initialisation function so they can be found by fromName. More... | |
Static Public Attributes | |
| static SubClassRegistry | Registry |
Additional Inherited Members | |
| Public Types inherited from StateController | |
| using | transitionFunction = std::function< void(StateController *state, const StateIceBasePtr &nextState, const StateIceBasePtr &previousState)> |
| using | TransitionFunctionMap = std::map< std::string, transitionFunction > |
| Public Types inherited from StateBase | |
| enum | StatePhase { ePreDefined, eStatechartDefinitions, eSubstatesDefinitions, eParametersDefinitions, eDefined, eEntering, eEntered, eBreaking, eExiting, eExited } |
| enum that specifies the phase in which the state is currently in used to control the usage of state-functions in the correct context More... | |
| Public Types inherited from AbstractFactoryMethod< XMLStateFactoryBase, XMLStateConstructorParams, XMLStateFactoryBasePtr > | |
| using | BaseFactory = XMLStateFactoryBase |
| using | ConstructorArg = XMLStateConstructorParams |
| typedef SharedPointerType(* | initialisationFunction) (XMLStateConstructorParams) |
| The function pointer type of subclass initialisation functions. More... | |
| using | SharedPointerType = XMLStateFactoryBasePtr |
| Public Attributes inherited from StateController | |
| std::unique_ptr< Impl > | cimpl |
| Public Attributes inherited from StateBase | |
| std::unique_ptr< Impl > | impl |
| Protected Member Functions inherited from XMLState | |
| StatePtr | addState (StatePtr state) |
| StateBasePtr | addXMLSubstate (RapidXmlReaderNode stateNode, const std::string &parentStateName) |
| void | addXMLSubstates (RapidXmlReaderNode substatesNode, const std::string &parentStateName) |
| void | defineParameters () override |
| Virtual function, in which input/local/output parameters can be specified. More... | |
| void | defineSubstates () override |
| Virtual function, in which substates, transition and mappings can be added. More... | |
| StateParameterMap | getParameters (RapidXmlReaderNode parametersNode) |
| Protected Member Functions inherited from State | |
| State & | operator= (const State &source) |
| State () | |
| State (const State &source) | |
| ~State () override | |
| Protected Member Functions inherited from StateUtility | |
| ConditionIdentifier | installCondition (const Term &condition, const EventPtr evt, const std::string &desc="") |
| Utility function to install a condition on the distributed conditionhandler. More... | |
| template<class Eventclass > | |
| ConditionIdentifier | installCondition (const Term &condition, const std::string &desc="") |
| Utility function to install a condition on the distributed conditionhandler. More... | |
| void | removeCondition (ConditionIdentifier conditionId) |
| Utility function to remove an installed condition on the distributed conditionhandler. More... | |
| void | removeCounterEvent (const ActionEventIdentifier &id) |
| void | removeTimeoutEvent (const ActionEventIdentifier &id) |
| void | sendEvent (const EventPtr event, StateBasePtr eventProcessor=nullptr) |
| Function to send an event to a specific state from an onEnter()-function. Must not be called anywhere else. The event is processed after the onEnter()-function of this and all initial substates have returned. Use of this function should be avoided since this statemachine is blocked until this event and all subsequent sendEvents() are processed. More... | |
| template<class Event > | |
| void | sendEvent (StateBasePtr eventProcessor=nullptr) |
| ActionEventIdentifier | setCounterEvent (int counterThreshold, const EventPtr &evt, int initialValue=0) |
| template<class Eventclass > | |
| ActionEventIdentifier | setCounterEvent (int counterThreshold, int initialValue=0) |
| template<class Eventclass > | |
| ActionEventIdentifier | setTimeoutEvent (int timeoutDurationMs) |
| ActionEventIdentifier | setTimeoutEvent (int timeoutDurationMs, const EventPtr &evt) |
| Utility function to start a timer on the systemObserver and register an event on the conditionHandler. The condition is automatically removed, when the state is left. More... | |
| Protected Member Functions inherited from Logging | |
| bool | checkLogLevel (MessageTypeT level) const |
| const LogSenderPtr & | getLogSender () const |
| Retrieve log sender. More... | |
| LogSenderPtr | loghelper (const char *file, int line, const char *function) const |
| Protected Attributes inherited from Logging | |
| MessageTypeT | minimumLoggingLevel |
| SpamFilterDataPtr | spamFilter |
| LogTag | tag |
Detailed Description
Definition at line 32 of file MoveJointsPosControl.h.
Constructor & Destructor Documentation
◆ MoveJointsPosControl()
| MoveJointsPosControl | ( | XMLStateConstructorParams | stateData | ) |
Member Function Documentation
◆ CreateInstance()
|
static |
◆ GetName()
|
static |
Definition at line 74 of file MoveJointsPosControl.cpp.
◆ onBreak()
|
overridevirtual |
Virtual function, in which the behaviour of state is defined, when it is abnormally exited. Can be overridden, but it is optional.
An abnormal exit only occurs in hierarchy-levels greater 1.
When a parent state is left before the substates are finished, the OnBreak()-function is called in the active substate and in all it's active substates.
If this function is not implemented, the normal OnExit()-function is called.
- See also
- onExit()
Reimplemented from StateBase.
Definition at line 60 of file MoveJointsPosControl.cpp.
◆ onEnter()
|
overridevirtual |
Virtual function, in which the behaviour of state is defined, when it is entered.
Can be overridden, but it is optional.
Reimplemented from StateBase.
Definition at line 40 of file MoveJointsPosControl.cpp.
◆ onExit()
|
overridevirtual |
Virtual function, in which the behaviour of state is defined, when it is exited. Can be overridden, but it is optional.
- See also
- onBreak()
Reimplemented from StateBase.
Definition at line 66 of file MoveJointsPosControl.cpp.
◆ run()
|
overridevirtual |
Virtual function, that can be reimplemented to calculate complex operations.
It runs in it's own thread.
This function is called after onEnter(). This function can continue to run even if the state has been left (onExit() has been called), but all calculations will be discarded (Output- and Localparameters will be reseted).
Calls to external components will still be executed!
Calls to sendEvent() will be ignored, after the state has been left.
- Note
- Before re-entering this state, the state waits for this function from the last state-visit to complete. The implementation of run should constantly check, if StateController::isRunningTaskStopped() returns true and exit the run-function in that case.
Reimplemented from StateBase.
Definition at line 46 of file MoveJointsPosControl.cpp.
Here is the call graph for this function:Member Data Documentation
◆ Registry
|
static |
Definition at line 48 of file MoveJointsPosControl.h.
The documentation for this class was generated from the following files:
- RobotSkillTemplates/statecharts/deprecated/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosControl.h
- RobotSkillTemplates/statecharts/deprecated/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosControl.cpp
