BaseStateMachine< RobotSystemT > Class Template Reference

Base state machine. More...

#include <base_state_machine.h>

Inheritance diagram for BaseStateMachine< RobotSystemT >:

Public Member Functions
std::type_index	get_no_transition_event_index () const
	Returns the index of the event that did not trigger any transition. More...
	BaseStateMachine (RobotSystemT &robot_system)
	Constructor with arguments to store robot system. More...
template<class FSM , class Event >
void	no_transition (Event const &e, FSM &, int state_index)
	Print event typeid if no action present for the corresponding event. More...

Public Attributes
RobotSystemContainer < RobotSystemT >	robot_system_container_
	robot system container used by states to get sensor data and send commands Use the operator function robot_system_container_() to retrieve robot system in Action, Guard Functors. Other classes cannot access the robot system More...

Protected Attributes
std::type_index	no_transition_event_index_ = typeid(NULL)
	type index to store the event that did not trigger any transition More...

Detailed Description

template<class RobotSystemT>
class BaseStateMachine< RobotSystemT >

Base state machine.

Constructor & Destructor Documentation

template<class RobotSystemT>

BaseStateMachine< RobotSystemT >::BaseStateMachine ( RobotSystemT &  robot_system )

inline

Constructor with arguments to store robot system.

Parameters

uav_system

robot system that is stored internally and shared with events

Member Function Documentation

template<class RobotSystemT>

std::type_index BaseStateMachine< RobotSystemT >::get_no_transition_event_index ( ) const

inline

Returns the index of the event that did not trigger any transition.

Returns

The no-transition event index

template<class RobotSystemT>

template<class FSM , class Event >

void BaseStateMachine< RobotSystemT >::no_transition ( Event const &  e, FSM &  , int  state_index  )

inline

Print event typeid if no action present for the corresponding event.

Template Parameters

FSM	Backend to trigger events etc
Event	Event type that triggered no transition

Parameters

e	event instance
state_index	The index of the state where the no transition event is received

Member Data Documentation

template<class RobotSystemT>

std::type_index BaseStateMachine< RobotSystemT >::no_transition_event_index_ = typeid(NULL)

protected

type index to store the event that did not trigger any transition

template<class RobotSystemT>

RobotSystemContainer<RobotSystemT> BaseStateMachine< RobotSystemT >::robot_system_container_

robot system container used by states to get sensor data and send commands Use the operator function robot_system_container_() to retrieve robot system in Action, Guard Functors. Other classes cannot access the robot system

Decision Logic: The robot system container ensures that robot system is available to only few friend classes such as action functor, guard functors and is not available to others. This is necessary since we do not expect the logic state machine to contain the robot system. This was the only reasonable way found to share robot system across action and guard functors.

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

• include/aerial_autonomy/state_machines/base_state_machine.h