Class to provide typedefs for all basic uav states and actions. More...

#include <pick_place_states_actions.h>

Inheritance diagram for PickPlaceStatesActions< LogicStateMachineT >:

Collaboration diagram for PickPlaceStatesActions< LogicStateMachineT >:

Classes
struct	ManualControlArmState
	State that checks arm status along with regular manual control state. More...

Public Types
template<class Sequence >
using	bActionSequence = boost::msm::front::ActionSequence_< Sequence >
	Action sequence to chain multiple actions together. More...

template<class G1 , class G2 >
using	bAnd = boost::msm::front::euml::And_< G1, G2 >

using	vsa = VisualServoingStatesActions< LogicStateMachineT >
	namespace for states and actions in visual servoing More...

using	usa = UAVStatesActions< LogicStateMachineT >
	namespace for states and actions for basic uav actions More...

using	ArmFolding = ArmFolding_< LogicStateMachineT >
	State for folding arm. More...

using	ArmPreTakeoffFolding = ArmPreTakeoffFolding_< LogicStateMachineT >
	State before takeoff. More...

using	ArmPreLandingFolding = ArmPreLandingFolding_< LogicStateMachineT >
	State before landing. More...

using	PickState = PickState_< LogicStateMachineT >
	State while picking an object. More...

using	PrePickState = PrePickState_< LogicStateMachineT >
	State while positioning the arm for picking. More...

using	ArmPowerOn = ArmPoweronTransitionActionFunctor_< LogicStateMachineT >
	Action to poweroff arm. More...

using	ArmPowerOff = ArmPoweroffTransitionActionFunctor_< LogicStateMachineT >
	Action to poweroff arm. More...

using	ArmFold = ArmFoldTransitionActionFunctor_< LogicStateMachineT >
	Action to take when starting folding arm before land. More...

using	ArmRightFold = ArmRightFoldTransitionActionFunctor_< LogicStateMachineT >
	Action to fold arm into right angle configuration. More...

using	AbortArmController = AbortArmController_< LogicStateMachineT >
	Abort arm controller. More...

using	AbortUAVControllerArmRightFold = bActionSequence< boost::mpl::vector< typename usa::UAVControllerAbort, ArmRightFold >>
	Action sequence to abort UAV controller and move arm to right angle. More...

using	AbortUAVControllerArmFold = bActionSequence< boost::mpl::vector< typename usa::UAVControllerAbort, ArmFold >>
	Action sequence to abort UAV controller and move arm to right angle. More...

using	PickTransitionAction = bActionSequence< boost::mpl::vector< typename vsa::VisualServoingTransitionAction, VisualServoingArmTransitionActionFunctor_< LogicStateMachineT, 1 >>>
	Set goal for visual servoing and also arm controller. More...

using	PrePickTransitionAction = bActionSequence< boost::mpl::vector< typename vsa::VisualServoingTransitionAction, VisualServoingArmTransitionActionFunctor_< LogicStateMachineT, 0 >>>
	Set goal for visual servoing and also arm controller for positioning arm for pick. More...

using	ArmPowerOnFold = bActionSequence< boost::mpl::vector< ArmPowerOn, ArmFold >>
	Action to take when starting folding arm before takeoff. More...

using	AbortUAVArmController = bActionSequence< boost::mpl::vector< typename usa::UAVControllerAbort, AbortArmController >>
	Action sequence to abort UAV controller and arm controller angle. More...

using	PickTransitionGuard = bAnd< typename vsa::VisualServoingTransitionGuard, ArmEnabledGuardFunctor_< LogicStateMachineT >>
	Guard to stop pick place if arm is not powered or vision is not working. More...

using	PickGuard = PickGuard_< LogicStateMachineT >
	Action to grab an object. More...

Public Types inherited from VisualServoingStatesActions< LogicStateMachineT >
using	VisualServoing = VisualServoing_< LogicStateMachineT >
	State when reaching a visual servoing goal. More...

using	VisualServoingTransitionAction = VisualServoingTransitionActionFunctor_< LogicStateMachineT >
	Action to take when starting visual servoing. More...

using	VisualServoingTransitionGuard = VisualServoingTransitionGuardFunctor_< LogicStateMachineT >
	Check whether visual servoing is feasible currently. More...

using	GoHomeTransitionAction = GoHomeTransitionActionFunctor_< LogicStateMachineT >
	Send the UAV back to home position. More...

using	GoHomeTransitionGuard = GoHomeTransitionGuardFunctor_< LogicStateMachineT >
	Check if home location is specified. More...

Public Types inherited from UAVStatesActions< LogicStateMachineT >
using	TakingOff = TakingOff_< LogicStateMachineT >
	Takingoff state. More...

using	Landing = Landing_< LogicStateMachineT >
	Landing state. More...

using	ReachingGoal = ReachingGoal_< LogicStateMachineT >
	Reaching goal state. More...

using	Hovering = Hovering_< LogicStateMachineT >
	Hovering state. More...

using	Landed = Landed_< LogicStateMachineT >
	Landed state. More...

using	ManualControlState = ManualControlState_< LogicStateMachineT >
	Manual control state. More...

using	TakeoffAction = TakeoffTransitionActionFunctor_< LogicStateMachineT >
	Action to take when taking off. More...

using	TakeoffGuard = TakeoffTransitionGuardFunctor_< LogicStateMachineT >
	Guard to stop taking off under low voltage. More...

using	TakeoffAbort = TakeoffAbortActionFunctor_< LogicStateMachineT >
	Abort action when taking off. More...

using	LandingAction = LandTransitionActionFunctor_< LogicStateMachineT >
	Action to take when landing. More...

using	ReachingGoalSet = PositionControlTransitionActionFunctor_< LogicStateMachineT >
	set goal action when transitioning More...

using	ReachingGoalGuard = PositionControlTransitionGuardFunctor_< LogicStateMachineT >
	Guard to avoid going to goal if goal is not correct. More...

using	UAVControllerAbort = UAVControllerAbortActionFunctor_< LogicStateMachineT >
	Abort action when reaching goal. More...

using	ReachingGoalLand = LandingAction
	Land action when reaching goal. More...

using	ManualControlSwitchAction = ManualControlSwitchAction_< LogicStateMachineT >
	Action to enable sdk when switching to sdk mode. More...

using	ManualControlSwitchGuard = ManualControlSwitchGuard_< LogicStateMachineT >
	Guard for switching to SDK mode from manual control. More...

Detailed Description

template<class LogicStateMachineT>
struct PickPlaceStatesActions< LogicStateMachineT >

Class to provide typedefs for all basic uav states and actions.

States and actions corresponding to pick and place application using visual servoing.

Template Parameters

LogicStateMachineT The backend of logic state machine