BaseRobotSystem Class Reference

Provides functions to switch between active controllers and get goals. More...

#include <base_robot_system.h>

Inheritance diagram for BaseRobotSystem:

Collaboration diagram for BaseRobotSystem:

Public Member Functions
	BaseRobotSystem ()
	Constructor to initialize active controllers and mutexes to NULL. More...
template<class ControllerHardwareConnectorT , class GoalT >
void	setGoal (GoalT goal)
	sets goal to the connector and swaps the active connector with the specified connector type. More...
template<class ControllerHardwareConnectorT , class GoalT >
GoalT	getGoal () const
	Get the goal from connector. More...
template<class ControllerHardwareConnectorT >
ControllerStatus	getStatus () const
	Get the status of a controller. More...
ControllerStatus	getActiveControllerStatus (HardwareType hardware_type) const
	Get the status of the active controller. More...
void	abortController (HardwareType hardware_type)
	Remove active controller for given hardware type. More...
void	runActiveController (HardwareType hardware_type)
	Run active controller stored for a given hardware type. More...
virtual std::string	getSystemStatus () const =0
	Provide the current state of robot system. More...

Protected Attributes
TypeMap < AbstractControllerHardwareConnector >	controller_hardware_connector_container_
	Container to store and retrieve controller-hardware-connectors. More...

Detailed Description

Provides functions to switch between active controllers and get goals.

Constructor & Destructor Documentation

BaseRobotSystem::BaseRobotSystem ( )

inline

Constructor to initialize active controllers and mutexes to NULL.

Member Function Documentation

void BaseRobotSystem::abortController ( HardwareType  hardware_type )

inline

Remove active controller for given hardware type.

Parameters

hardware_type

Type of hardware for which active controller is switched off

ControllerStatus BaseRobotSystem::getActiveControllerStatus ( HardwareType  hardware_type ) const

inline

Get the status of the active controller.

Parameters

hardware_type

Hardware to get controller for

Returns

status of the active controller. If no active controller returns status as not engaged

template<class ControllerHardwareConnectorT , class GoalT >

GoalT BaseRobotSystem::getGoal ( ) const

inline

Get the goal from connector.

Template Parameters

ControllerHardwareConnectorT	Type of connector to use
GoalT	Type of Goal to get

Returns

goal of GoalT type

template<class ControllerHardwareConnectorT >

ControllerStatus BaseRobotSystem::getStatus ( ) const

inline

Get the status of a controller.

Template Parameters

ControllerHardwareConnectorT

Type of connector

Returns

Status is active/completed/critical

virtual std::string BaseRobotSystem::getSystemStatus ( ) const

pure virtual

Provide the current state of robot system.

Returns

string representation of the robot system state

Implemented in UAVSystem, ArmSystem, UAVArmSystem, and UAVVisionSystem.

void BaseRobotSystem::runActiveController ( HardwareType  hardware_type )

inline

Run active controller stored for a given hardware type.

Parameters

hardware_type

Type of hardware for which active controller is run

template<class ControllerHardwareConnectorT , class GoalT >

void BaseRobotSystem::setGoal ( GoalT  goal )

inline

sets goal to the connector and swaps the active connector with the specified connector type.

Template Parameters

ControllerHardwareConnectorT	type of connector to use
GoalT	Type of Goal to set to connector

Parameters

goal	Goal to set to connector

Member Data Documentation

TypeMap<AbstractControllerHardwareConnector> BaseRobotSystem::controller_hardware_connector_container_

protected

Container to store and retrieve controller-hardware-connectors.

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

• include/aerial_autonomy/robot_systems/base_robot_system.h