EventAgnosticActionFunctor< RobotSystemT, LogicStateMachineT > Struct Template Reference

Action functor that does not require the event triggering it. More...

#include <base_functors.h>

Public Member Functions
virtual void	run (RobotSystemT &robot_system)=0
	Override this run function for different sub classes. This function performs the logic checking for each state. More...
template<class EventT , class FSM , class SourceState , class TargetState >
void	operator() (EventT const &, FSM &logic_state_machine, SourceState &, TargetState &)
	operator () Internally calls run function More...
virtual	~EventAgnosticActionFunctor ()
	virtual destructor to get polymorphism More...

Detailed Description

template<class RobotSystemT, class LogicStateMachineT>
struct EventAgnosticActionFunctor< RobotSystemT, LogicStateMachineT >

Action functor that does not require the event triggering it.

This action functor performs the same action irrespective of the event triggering it. For example takeoff, land actions

Template Parameters

RobotSystemT

The robot system used in the action

Constructor & Destructor Documentation

template<class RobotSystemT, class LogicStateMachineT>

virtual EventAgnosticActionFunctor< RobotSystemT, LogicStateMachineT >::~EventAgnosticActionFunctor ( )

inlinevirtual

virtual destructor to get polymorphism

Member Function Documentation

template<class RobotSystemT, class LogicStateMachineT>

template<class EventT , class FSM , class SourceState , class TargetState >

void EventAgnosticActionFunctor< RobotSystemT, LogicStateMachineT >::operator() ( EventT const &  , FSM &  logic_state_machine, SourceState &  , TargetState &    )

inline

operator () Internally calls run function

Parameters

logic_state_machine

Backend of logic State Machine. can send events using this.

template<class RobotSystemT, class LogicStateMachineT>

virtual void EventAgnosticActionFunctor< RobotSystemT, LogicStateMachineT >::run ( RobotSystemT &  robot_system )

pure virtual

Override this run function for different sub classes. This function performs the logic checking for each state.

Parameters

robot_system

Provides sensor data and allows for controlling hardware

Implemented in AbortArmController_< LogicStateMachineT >, VisualServoingArmTransitionActionFunctor_< LogicStateMachineT, TransformIndex >, ArmPoweronTransitionActionFunctor_< LogicStateMachineT >, ArmPoweroffTransitionActionFunctor_< LogicStateMachineT >, GoHomeTransitionActionFunctor_< LogicStateMachineT >, UAVControllerAbortActionFunctor_< LogicStateMachineT >, ArmRightFoldTransitionActionFunctor_< LogicStateMachineT >, TakeoffAbortActionFunctor_< LogicStateMachineT >, VisualServoingAbortActionFunctor_< LogicStateMachineT >, ManualControlSwitchAction_< LogicStateMachineT >, ArmFoldTransitionActionFunctor_< LogicStateMachineT >, VisualServoingTransitionActionFunctor_< LogicStateMachineT >, TakeoffTransitionActionFunctor_< LogicStateMachineT >, and LandTransitionActionFunctor_< LogicStateMachineT >.

---

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

• include/aerial_autonomy/actions_guards/base_functors.h