VisualServoObject Class Reference

#include <RobotSkillTemplates/statecharts/deprecated/FindAndGraspObjectGroup/VisualServoObjectSubGroup/VisualServoObject.h>

+ Inheritance diagram for VisualServoObject:

Public Member Functions

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 setLocalObjectChannelFromInput (const std::string &objectChannelName, const std::string &inputName)
 
 VisualServoObject (XMLStateConstructorParams stateData)
 
- Public Member Functions inherited from XMLStateTemplate< VisualServoObject >
 XMLStateTemplate (const XMLStateConstructorParams &params)
 
- 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 >), TgetInput (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 >), TgetLocal (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 >), TgetOutput (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 &paramMap, const std::string &key) const
 
void __updateGlobalStateId ()
 
virtual void __updateGlobalStateIdRecursive ()
 
bool addParameter (StateParameterMap &paramMap, const std::string &key, VariantTypeId type, bool optional, VariantPtr defaultValue=VariantPtr()) const
 
bool addParameterContainer (StateParameterMap &paramMap, 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
 
StatechartContextInterfacegetContext (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 &paramMap, const std::string &key, VariantPtr &value) const
 
void getParameterContainer (const StateParameterMap &paramMap, 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 &paramMap, const std::string &key) const
 
virtual void onBreak ()
 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...
 
StateBaseoperator= (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...
 
virtual void run ()
 Virtual function, that can be reimplemented to calculate complex operations. More...
 
void setContext (StatechartContextInterface *context)
 
void setInitialized (bool enable)
 
void setParameter (StateParameterMap &paramMap, const std::string &key, const Variant &variant)
 
void setParameterContainer (StateParameterMap &paramMap, const std::string &key, const VariantContainerBase &valueContainer)
 
void setParameterContainer (StateParameterMap &paramMap, 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< StateBasePtrGetActiveStateLeafs (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< Implcimpl
 
- Public Attributes inherited from StateBase
std::unique_ptr< Implimpl
 
- 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
Stateoperator= (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 LogSenderPtrgetLogSender () 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 33 of file VisualServoObject.h.

Constructor & Destructor Documentation

◆ VisualServoObject()

Definition at line 48 of file VisualServoObject.cpp.

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Member Function Documentation

◆ CreateInstance()

XMLStateFactoryBasePtr CreateInstance ( XMLStateConstructorParams  stateData)
static

Definition at line 137 of file VisualServoObject.cpp.

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◆ GetName()

std::string GetName ( )
static

Definition at line 131 of file VisualServoObject.cpp.

◆ onEnter()

void 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 53 of file VisualServoObject.cpp.

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◆ onExit()

void 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 106 of file VisualServoObject.cpp.

◆ setLocalObjectChannelFromInput()

void setLocalObjectChannelFromInput ( const std::string &  objectChannelName,
const std::string &  inputName 
)

Definition at line 113 of file VisualServoObject.cpp.

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Member Data Documentation

◆ Registry

VisualServoObject::SubClassRegistry Registry
static

Definition at line 48 of file VisualServoObject.h.


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