StateNode Class Reference

Recursive data structure - both a state machine controller as well as a node within a state machine itself. More...

#include <StateNode.h>

Inherits BehaviorBase.

Inherited by DualCoding::Pilot, DualCoding::Pilot::ClearOldPath, DualCoding::Pilot::CollisionChecker, DualCoding::Pilot::CollisionDispatch, DualCoding::Pilot::ConstructNavPlan, DualCoding::Pilot::Dispatch, DualCoding::Pilot::ExecutePlan, DualCoding::Pilot::ExecutePlan::ExecuteStep, DualCoding::Pilot::ExecutePlan::NextTask, DualCoding::Pilot::GoToShapeMachine, DualCoding::Pilot::GoToShapeMachine::CheckParameters, DualCoding::Pilot::GoToShapeMachine::SetMaxTurn, DualCoding::Pilot::GoToShapeMachine::SetUpPlanNode, DualCoding::Pilot::LocalizationMachine, DualCoding::Pilot::LocalizationUtility, DualCoding::Pilot::LocalizationUtility::CheckEnoughLandmarks, DualCoding::Pilot::LocalizationUtility::ChooseGazePoints, DualCoding::Pilot::LocalizationUtility::Localize, DualCoding::Pilot::LocalizationUtility::PrepareForNextGazePoint, DualCoding::Pilot::LocalizationUtility::ReturnToInitialHeading, DualCoding::Pilot::PlanPath, DualCoding::Pilot::PushObjectMachine, DualCoding::Pilot::PushObjectMachine::AddAcquirePt, DualCoding::Pilot::PushObjectMachine::AddBackupPt, DualCoding::Pilot::PushObjectMachine::CheckObjectPos, DualCoding::Pilot::PushObjectMachine::CheckParameters, DualCoding::Pilot::PushObjectMachine::ChoosePathInitToObj, DualCoding::Pilot::PushObjectMachine::ChoosePathObjToDest, DualCoding::Pilot::PushObjectMachine::DisplayPathInitToObj, DualCoding::Pilot::PushObjectMachine::DisplayPathObjToDest, DualCoding::Pilot::PushObjectMachine::DisplayStraightLineInitToObj, DualCoding::Pilot::PushObjectMachine::DisplayStraightLineObjToDest, DualCoding::Pilot::PushObjectMachine::MoveObjectPos, DualCoding::Pilot::PushObjectMachine::SetMaxTurn, DualCoding::Pilot::PushObjectMachine::SetUpExecute2, DualCoding::Pilot::PushObjectMachine::SetUpInitToObj, DualCoding::Pilot::PushObjectMachine::SetUpObjToDest, DualCoding::Pilot::PushObjectMachine::SetUpObjToDest2, DualCoding::Pilot::ReportCompletion, DualCoding::Pilot::RunMotionModel, DualCoding::Pilot::RunOpticalFlow, DualCoding::Pilot::SetOdometryMachine, DualCoding::Pilot::SetupLandmarkExtractor, DualCoding::Pilot::SetVelocityMachine, DualCoding::Pilot::TerminateDueToCollision, DualCoding::Pilot::VisualSearchMachine, DualCoding::Pilot::VisualSearchMachine::Check, DualCoding::Pilot::WalkMachine, DualCoding::Pilot::WalkMachine::SetWalking, DualCoding::Pilot::WaypointWalkMachine, DualCoding::Pilot::WaypointWalkMachine::SetWalking, FFPlanNode, Grasper, Grasper::CloseTheGripper, Grasper::DoArmApproach, Grasper::DoArmDeliver, Grasper::GrasperFailed, Grasper::GrasperSucceeded, Grasper::IfRequestIs, Grasper::NextRequest, Grasper::OpenTheGripper, Grasper::PathPlanConstrained, Grasper::PathPlanToRest, Grasper::PlanArmApproach, Grasper::PlanArmDeliver, Grasper::PlanBodyApproach, Grasper::PlanBodyTransport, Grasper::Rest, Grasper::Rest::GetOpenGripperFlag, Grasper::Rest::GetRestType, Grasper::SignalGraspError, Grasper::Verify::CheckGripperLoad, Grasper::Verify::CheckUserVerify, Grasper::Verify::VerifyDispatch, GrasperNode, GroupNode, KoduInterpreter::CompleteSayActuator, KoduInterpreter::DropActionRunner, KoduInterpreter::DropActionRunner::DropActionEnd, KoduInterpreter::DropActionRunner::DropActionStart, KoduInterpreter::DropActionRunner::ExecuteDrop, KoduInterpreter::DropActionRunner::ExecuteDrop::RecordAprilTagPos, KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject, KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::RepositionObject, KoduInterpreter::GiveActionRunner, KoduInterpreter::GiveActionRunner::GiveActionSend, KoduInterpreter::GiveActionRunner::GiveActionStart, KoduInterpreter::GrabActionRunner, KoduInterpreter::GrabActionRunner::ExecuteGrabAction, KoduInterpreter::GrabActionRunner::ExecuteGrabAction::CreateGripMonTask, KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp, KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::NeedToLookAround, KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionGripperObject, KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed, KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::VerifyObjectInGripper, KoduInterpreter::GrabActionRunner::GrabActionEnd, KoduInterpreter::GrabActionRunner::GrabActionStart, KoduInterpreter::GrabActionRunner::GrabActionStart::GetTagId, KoduInterpreter::GrabActionRunner::GrabActionStart::IsObjectNear, KoduInterpreter::GrabActionRunner::PrepareBody, KoduInterpreter::InitializeAgent, KoduInterpreter::InitializeAgent::CreateWorld, KoduInterpreter::InitializeAgent::OrganizeWorld, KoduInterpreter::InitializeAgent::ParseKode, KoduInterpreter::KoduActionRunner, KoduInterpreter::KoduConditionEvaluator, KoduInterpreter::KoduEventListener, KoduInterpreter::MotionActionRunner, KoduInterpreter::MotionActionRunner::ExecuteMotionAction, KoduInterpreter::MotionActionRunner::ExecuteMotionAction::CheckMotionType, KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion, KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::CheckForValidTarget, KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::CreateFinalApproachCommand, KoduInterpreter::MotionActionRunner::MotionEnd, KoduInterpreter::MotionActionRunner::MotionStart, KoduInterpreter::NotificationMonitor, KoduInterpreter::PageSwitchActionRunner, KoduInterpreter::PageSwitchActionRunner::PageSwitchEnd, KoduInterpreter::PageSwitchActionRunner::PageSwitchStart, KoduInterpreter::PageSwitchActionRunner::SwitchToNewPage, KoduInterpreter::PerceptualMultiplexor, KoduInterpreter::PerceptualMultiplexor::FailureRecovery, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::EndRecovery, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::LocalizeAgent, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::LocalizeAgent::CreateLocalizeTask, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::GetTagLocation, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::InitiateManipRecovery, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::InitiateManipRecovery::GetObjectInfo, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::NeedToLookAround, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionGripperObject, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::SetGrasperTarget, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::VerifyObjectInGripper, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::PauseInterpretation, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::StartRecovery, KoduInterpreter::PerceptualMultiplexor::MapBuilderTaskRunner, KoduInterpreter::PerceptualMultiplexor::MapBuilderTaskRunner::ExamineMapBuilderResults, KoduInterpreter::PerceptualMultiplexor::MultiplexorEnd, KoduInterpreter::PerceptualMultiplexor::MultiplexorStart, KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner, KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner::SetTaskFailure, KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner::SetTaskSuccess, KoduInterpreter::PlayActionRunner, KoduInterpreter::PlayActionRunner::PlayEnd, KoduInterpreter::PlayActionRunner::PlayStart, KoduInterpreter::PlayActuator, KoduInterpreter::ReceiveActionRunner, KoduInterpreter::ReceiveActionRunner::ReceiveActionEnd, KoduInterpreter::ReceiveActionRunner::ReceiveActionStart, KoduInterpreter::SayActuator, KoduInterpreter::ScoreActuator, KoduInterpreter::WalkMonitor, LGNode, LogNode, LookAtMarkers, LookAtMarkers::DummyFinish, MapBuilderNode, MCNodeBase, OutputNode, ParkArm, PilotNode, PostMachineCompletion, PostMachineFailure, PostMachineSuccess, PostStateCompletion, RecordMotionNode, ResetArm, ResetGripper, SoundNode, SpeechNode, TrackNode, and WalkToTargetNode.

---

Detailed Description

Recursive data structure - both a state machine controller as well as a node within a state machine itself.

Override setup() to build your own Transition and StateNode network if you want this node to contain a state machine.

Override doStart() / doStop() as you would a normal BehaviorBase subclass to have this node add some functionality of its own.

You can override setup to create a sub-network, as well as overriding doStart and doStop, in the same class.

See also the tutorial page on State Machines.

There are two StateNode templates in project/templates/:

• statenode.h is intended for leaf nodes, which directly implement the execution of a task.
• statemachine.h is intended for nodes which contain a network of transitions and subnodes, which together solve the task.

Definition at line 31 of file StateNode.h.

List of all members.

Public Types
enum	SuccessOrFailure { failureSignal = 0, successSignal = 1 }
	Values used in a SignalTrans for postStateSuccess and postStateFailure. More...
Public Member Functions
	StateNode ()
	constructor, class name from typeid is used as instance name
	StateNode (const std::string &name)
	constructor, pass a name to use
virtual	~StateNode ()
	destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls removeReference() on subnodes
virtual Transition *	addTransition (Transition *trans)
	Adds the specified StateTransition to the transition table.
std::vector< Transition * > &	getTransitions ()
	Returns the std::vector of transitions so you can modify them yourself if need be.
const std::vector< Transition * > &	getTransitions () const
	Returns the const std::vector of transitions so you can read through them if need be.
virtual StateNode *	addNode (StateNode *node)
	Adds a StateNode to nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls addReference() on node. Also sets the node's parent to this if it is null.
template<class T >
T *	addNode (T *node)
	Adds a StateNode to nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls addReference() on node. Also sets the node's parent to this if it is null.
std::vector< StateNode * > &	getNodes ()
	Returns the std::vector of sub-nodes so you can modify them yourself if need be.
const std::vector< StateNode * > &	getNodes () const
	Returns the const std::vector of sub-nodes so you can read through them if need be.
void	setRetain (bool f)
	Sets the retain flag - if not retained, will removeReference() subnodes upon stop() and recreate them on start (by calling setup()) - may be too expensive to be worth saving memory...
virtual void	start ()
	Transitions should call this when entering the state, so it can enable its transitions.
virtual void	setup ()
	This is called by start() when it should setup the network of subnodes (if any).
virtual void	stop ()
	Transitions should call this when leaving the state, so it can disable its transitions.
virtual void	teardown ()
	This is called by stop() when you should destruct subnodes.
virtual StateNode *	getParent () const
	returns pointer to parent as a generic StateNode
template<class T >
T *	getAncestor () const
	returns a correctly typed pointer to ancestor of the specified type; user by $reference
template<class T >
T *	parentAs () const
	returns correctly typed pointer to parent for access to its members
virtual StateNode *	getChild (const std::string &name) const
	returns node with specified name that is a child of this node
virtual StateNode *	getSibling (const std::string &name) const
	returns node with specified name that is a child of parent, or of parent's parent, etc.
virtual void	setSpeechText (const std::string &text)
	Set text to speak on node start.
Static Public Member Functions
template<typename T >
static const T	extractSignal (const EventBase *ev)
	Extract data from a signal sent to this state via Transition::fire(const EventBase&).
template<typename T >
static const T *	tryExtractSignal (const EventBase *ev)
	Try to extract data from a signal sent to this state via Transition::fire(const EventBase&).
Protected Member Functions
virtual void	postStateStart ()
	will post an activation event through stateMachineEGID, used when doStart() is called
virtual void	postStateStop ()
	will post an deactivation event through stateMachineEGID, used when doStop() is called
virtual void	postStateCompletion (float magnitude=0)
	will post a status event through stateMachineEGID to signal "completion" of the node
virtual void	postStateFailure ()
	posts a DataEvent<SuccessOrFailure>(failure) indicating failure of the node; meaning of failure is used-defined
virtual void	postStateSuccess ()
	posts a DataEvent<SuccessOrFailure>(success) indicating success of the node; meaning of success is used-defined
virtual void	postParentCompletion ()
	Causes the parent state machine to complete; use this to return from a nested state machine.
virtual void	postParentFailure ()
	Causes the parent state machine to fail; use this to return failure from a nested state machine.
virtual void	postParentSuccess ()
	Causes the parent state machine to succeed; use this to return success from a nested state machine.
template<typename T >
void	postParentSignal (const T &value=T())
	Causes the parent state machine to post a DataEvent through stateSignalEGID. value is optional.
template<typename T >
void	postStateSignal (const T &value=T())
	Posts a DataEvent through stateSignalEGID that can be picked up by a SignalTrans. value is optional.
Protected Attributes
StateNode *	parent
	pointer to the machine that contains this node
std::vector< Transition * >	transitions
	a vector of outgoing transitions
bool	issetup
	this is set to true if the network has been setup but not destroyed (i.e. don't need to call setupSubNodes again)
bool	retain
	this is set to true if the network should be retained between activations. Otherwise it's dereferenced upon doStop(). (or at least removeReference() is called on subnodes)
unsigned int	startedTime
	the timestamp of last call to start()
std::vector< StateNode * >	nodes
	vector of StateNodes, just so they can be dereferenced again on doStop() (unless retained) or ~StateNode()
StateNode *	startnode
	starting node (should be a member of nodes)
std::string	speechText
	Text to speak on node start (for debugging).
Private Member Functions
	StateNode (const StateNode &node)
	don't call this
StateNode	operator= (const StateNode &node)
	don't call this
virtual void	DoStartEvent (struct __USE_doStart_AND_CHECK_event_NOT_DoStartEvent__ &)
	temporary to produce warnings to help people update
Friends
class	Transition

---

Member Enumeration Documentation

enum StateNode::SuccessOrFailure

Values used in a SignalTrans for postStateSuccess and postStateFailure.

Enumerator:

failureSignal
successSignal

Definition at line 126 of file StateNode.h.

---

Constructor & Destructor Documentation

StateNode::StateNode

(

)

constructor, class name from typeid is used as instance name

Definition at line 35 of file StateNode.h.

Referenced by DualCoding::Pilot::setup(), DualCoding::Pilot::Dispatch::setup(), DualCoding::Pilot::SetVelocityMachine::setup(), DualCoding::Pilot::WaypointWalkMachine::setup(), DualCoding::Pilot::LocalizationUtility::setup(), KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::setup(), KoduInterpreter::DropActionRunner::ExecuteDrop::setup(), KoduInterpreter::InitializeAgent::setup(), Grasper::setup(), Grasper::CloseTheGripper::setup(), and Grasper::OpenTheGripper::setup().

StateNode::StateNode

(

const std::string &

name

)

constructor, pass a name to use

Definition at line 40 of file StateNode.h.

StateNode::~StateNode

(

)

[virtual]

destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls removeReference() on subnodes

Definition at line 8 of file StateNode.cc.

StateNode::StateNode

(

const StateNode &

node

)

[private]

don't call this

---

Member Function Documentation

template<class T >

T* StateNode::addNode

(

T *

node

)

Adds a StateNode to nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls addReference() on node. Also sets the node's parent to this if it is null.

Definition at line 60 of file StateNode.h.

Referenced by addNode().

StateNode * StateNode::addNode

(

StateNode *

node

)

[virtual]

Adds a StateNode to nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls addReference() on node. Also sets the node's parent to this if it is null.

Definition at line 30 of file StateNode.cc.

Referenced by DualCoding::Pilot::setup(), DualCoding::Pilot::Dispatch::setup(), DualCoding::Pilot::SetOdometryMachine::setup(), DualCoding::Pilot::VisualSearchMachine::setup(), DualCoding::Pilot::PushObjectMachine::setup(), DualCoding::Pilot::GoToShapeMachine::setup(), DualCoding::Pilot::SetVelocityMachine::setup(), DualCoding::Pilot::WaypointWalkMachine::setup(), DualCoding::Pilot::WalkMachine::setup(), DualCoding::Pilot::LocalizationMachine::setup(), DualCoding::Pilot::LocalizationUtility::setup(), DualCoding::Pilot::ExecutePlan::setup(), ParkArm::setup(), ResetGripper::setup(), ResetArm::setup(), LookAtMarkers::setup(), KoduInterpreter::PlayActionRunner::setup(), KoduInterpreter::PageSwitchActionRunner::setup(), KoduInterpreter::MotionActionRunner::setup(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::setup(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::setup(), KoduInterpreter::ReceiveActionRunner::setup(), KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::setup(), KoduInterpreter::GiveActionRunner::setup(), KoduInterpreter::GiveActionRunner::PositionBody::setup(), KoduInterpreter::GrabActionRunner::setup(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::setup(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::setup(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::setup(), KoduInterpreter::GrabActionRunner::PrepareBody::setup(), KoduInterpreter::GrabActionRunner::GrabActionStart::setup(), KoduInterpreter::DropActionRunner::setup(), KoduInterpreter::DropActionRunner::ExecuteDrop::setup(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::setup(), KoduInterpreter::PerceptualMultiplexor::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::LocalizeAgent::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::InitiateManipRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner::setup(), KoduInterpreter::PerceptualMultiplexor::MapBuilderTaskRunner::setup(), KoduInterpreter::InitializeAgent::setup(), Grasper::setup(), Grasper::CloseTheGripper::setup(), Grasper::OpenTheGripper::setup(), Grasper::Rest::setup(), Grasper::DoArmDeliver::setup(), Grasper::Verify::setup(), and Grasper::DoArmApproach::setup().

Transition * StateNode::addTransition

(

Transition *

trans

)

[virtual]

Adds the specified StateTransition to the transition table.

Definition at line 23 of file StateNode.cc.

Referenced by DualCoding::Pilot::setup(), DualCoding::Pilot::Dispatch::setup(), DualCoding::Pilot::SetOdometryMachine::setup(), DualCoding::Pilot::VisualSearchMachine::setup(), DualCoding::Pilot::PushObjectMachine::setup(), DualCoding::Pilot::GoToShapeMachine::setup(), DualCoding::Pilot::SetVelocityMachine::setup(), DualCoding::Pilot::WaypointWalkMachine::setup(), DualCoding::Pilot::WalkMachine::setup(), DualCoding::Pilot::LocalizationMachine::setup(), DualCoding::Pilot::LocalizationUtility::setup(), DualCoding::Pilot::ExecutePlan::setup(), ParkArm::setup(), ResetGripper::setup(), ResetArm::setup(), LookAtMarkers::setup(), KoduInterpreter::setup(), KoduInterpreter::PlayActionRunner::setup(), KoduInterpreter::PageSwitchActionRunner::setup(), KoduInterpreter::MotionActionRunner::setup(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::setup(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::setup(), KoduInterpreter::ReceiveActionRunner::setup(), KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::setup(), KoduInterpreter::GiveActionRunner::setup(), KoduInterpreter::GiveActionRunner::PositionBody::setup(), KoduInterpreter::GrabActionRunner::setup(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::setup(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::setup(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::setup(), KoduInterpreter::GrabActionRunner::PrepareBody::setup(), KoduInterpreter::GrabActionRunner::GrabActionStart::setup(), KoduInterpreter::DropActionRunner::setup(), KoduInterpreter::DropActionRunner::ExecuteDrop::setup(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::setup(), KoduInterpreter::PerceptualMultiplexor::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::InitiateManipRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner::setup(), KoduInterpreter::PerceptualMultiplexor::MapBuilderTaskRunner::setup(), KoduInterpreter::InitializeAgent::setup(), Grasper::setup(), Grasper::CloseTheGripper::setup(), Grasper::OpenTheGripper::setup(), Grasper::Rest::setup(), Grasper::DoArmDeliver::setup(), Grasper::Verify::setup(), and Grasper::DoArmApproach::setup().

virtual void StateNode::DoStartEvent

(

struct __USE_doStart_AND_CHECK_event_NOT_DoStartEvent__ &

)

[private, virtual]

temporary to produce warnings to help people update

Definition at line 193 of file StateNode.h.

template<typename T >

static const T StateNode::extractSignal

(

const EventBase *

ev

)

[static]

Extract data from a signal sent to this state via Transition::fire(const EventBase&).

Definition at line 107 of file StateNode.h.

template<class T >

T * StateNode::getAncestor

(

)

const

returns a correctly typed pointer to ancestor of the specified type; user by $reference

Definition at line 196 of file StateNode.h.

StateNode * StateNode::getChild

(

const std::string &

name

)

const [virtual]

returns node with specified name that is a child of this node

Definition at line 38 of file StateNode.cc.

const std::vector<StateNode*>& StateNode::getNodes

(

)

const

Returns the const std::vector of sub-nodes so you can read through them if need be.

Definition at line 66 of file StateNode.h.

std::vector<StateNode*>& StateNode::getNodes

(

)

Returns the std::vector of sub-nodes so you can modify them yourself if need be.

Definition at line 63 of file StateNode.h.

Referenced by EventLogger::spider().

virtual StateNode* StateNode::getParent

(

)

const [virtual]

returns pointer to parent as a generic StateNode

Definition at line 88 of file StateNode.h.

Referenced by LookAtMarkers::DummyFinish::doStart(), getAncestor(), EventLogger::isListening(), parentAs(), postParentCompletion(), postParentFailure(), postParentSignal(), and postParentSuccess().

StateNode * StateNode::getSibling

(

const std::string &

name

)

const [virtual]

returns node with specified name that is a child of parent, or of parent's parent, etc.

Definition at line 44 of file StateNode.cc.

Referenced by getSibling().

const std::vector<Transition*>& StateNode::getTransitions

(

)

const

Returns the const std::vector of transitions so you can read through them if need be.

Definition at line 55 of file StateNode.h.

std::vector<Transition*>& StateNode::getTransitions

(

)

Returns the std::vector of transitions so you can modify them yourself if need be.

Definition at line 52 of file StateNode.h.

StateNode StateNode::operator=

(

const StateNode &

node

)

[private]

don't call this

template<class T >

T* StateNode::parentAs

(

)

const

returns correctly typed pointer to parent for access to its members

Definition at line 94 of file StateNode.h.

virtual void StateNode::postParentCompletion

(

)

[protected, virtual]

Causes the parent state machine to complete; use this to return from a nested state machine.

Definition at line 150 of file StateNode.h.

Referenced by PostMachineCompletion::doStart(), KoduInterpreter::PlayActionRunner::PlayEnd::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::EndRecovery::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::LocalizeAgent::CreateLocalizeTask::doStart(), KoduInterpreter::PerceptualMultiplexor::MultiplexorEnd::doStart(), KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner::SetTaskFailure::doStart(), KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner::SetTaskSuccess::doStart(), KoduInterpreter::PerceptualMultiplexor::MapBuilderTaskRunner::ExamineMapBuilderResults::doStart(), KoduInterpreter::PerceptualMultiplexor::MultiplexorStart::doStart(), Grasper::Verify::CheckUserVerify::doStart(), Grasper::Verify::CheckGripperLoad::doStart(), Grasper::Verify::CheckCross::doStart(), Grasper::Verify::CheckDomino::doStart(), and Grasper::Verify::CheckAprilTag::doStart().

virtual void StateNode::postParentFailure

(

)

[protected, virtual]

Causes the parent state machine to fail; use this to return failure from a nested state machine.

Definition at line 153 of file StateNode.h.

Referenced by PostMachineFailure::doStart(), and KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart().

template<typename T >

void StateNode::postParentSignal

(

const T &

value = T()

)

[protected]

Causes the parent state machine to post a DataEvent through stateSignalEGID. value is optional.

Definition at line 159 of file StateNode.h.

virtual void StateNode::postParentSuccess

(

)

[protected, virtual]

Causes the parent state machine to succeed; use this to return success from a nested state machine.

Definition at line 156 of file StateNode.h.

Referenced by PostMachineSuccess::doStart(), and KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart().

void StateNode::postStateCompletion

(

float

magnitude = 0

)

[protected, virtual]

will post a status event through stateMachineEGID to signal "completion" of the node

"completion" is defined by your subclass - will mean different things to different nodes depending on the actions they are performing. So call this yourself if there is a natural ending point for your state.

Parameters:

magnitude

the value to use for EventBase::magnitude -- generally is 1 for status events, but since this is to signal completion, 0 (the default) may be more appropriate; if your node is doing something repetitive however, 1 (or the loop count) may be better

Definition at line 134 of file StateNode.cc.

Referenced by WaypointEngineNode< W, mcName, mcDesc >::doEvent(), TrackNode::doEvent(), SpeechNode::doEvent(), SoundNode::doEvent(), PilotNode::doEvent(), DualCoding::Pilot::SetOdometryMachine::TurnHead::doEvent(), MotionSequenceNode< SIZE >::doEvent(), MCNodeBase::doEvent(), MapBuilderNode::doEvent(), LookAtMarkers::Search::doEvent(), LookAtMarkers::TrackMarker::doEvent(), KoduInterpreter::ReceiveActionRunner::ReceiveActionStart::doEvent(), KoduInterpreter::GiveActionRunner::GiveActionStart::doEvent(), GrasperNode::doEvent(), FFPlanNode::doEvent(), DynamicMotionSequenceNode::doEvent(), PostStateCompletion::doStart(), DualCoding::Pilot::VisualSearchMachine::Check::doStart(), DualCoding::Pilot::LocalizationUtility::ReturnToInitialHeading::doStart(), DualCoding::Pilot::LocalizationUtility::PrepareForNextGazePoint::doStart(), DualCoding::Pilot::ExecutePlan::NextTask::doStart(), LookAtMarkers::SelectMarker::doStart(), KoduInterpreter::ScoreActuator::doStart(), KoduInterpreter::CompleteSayActuator::doStart(), KoduInterpreter::PlayActuator::doStart(), KoduInterpreter::PlayActionRunner::PlayEnd::doStart(), KoduInterpreter::PageSwitchActionRunner::PageSwitchEnd::doStart(), KoduInterpreter::PageSwitchActionRunner::SwitchToNewPage::doStart(), KoduInterpreter::PageSwitchActionRunner::PageSwitchStart::doStart(), KoduInterpreter::MotionActionRunner::MotionEnd::doStart(), KoduInterpreter::MotionActionRunner::MotionStart::doStart(), KoduInterpreter::ReceiveActionRunner::ReceiveActionEnd::doStart(), KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::Grab::doStart(), KoduInterpreter::GiveActionRunner::GiveActionSend::doStart(), KoduInterpreter::GiveActionRunner::Drop::doStart(), KoduInterpreter::GrabActionRunner::GrabActionEnd::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::CreateGripMonTask::doStart(), KoduInterpreter::GrabActionRunner::GrabActionStart::GetTagId::doStart(), KoduInterpreter::DropActionRunner::DropActionEnd::doStart(), KoduInterpreter::DropActionRunner::DropActionStart::doStart(), KoduInterpreter::KoduConditionEvaluator::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::InitiateManipRecovery::GetObjectInfo::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::PauseInterpretation::doStart(), KoduInterpreter::PerceptualMultiplexor::MultiplexorEnd::doStart(), KoduInterpreter::InitializeAgent::OrganizeWorld::doStart(), KoduInterpreter::InitializeAgent::CreateWorld::doStart(), Grasper::IfRequestIs::doStart(), Grasper::PathPlanToRest::doStart(), Grasper::PathPlanConstrained::doStart(), Grasper::PlanArmDeliver::doStart(), Grasper::PlanBodyTransport::doStart(), Grasper::ArmPulse::doStart(), Grasper::PlanArmApproach::doStart(), Grasper::PlanBodyApproach::doStart(), DualCoding::Pilot::Dispatch::finish(), Grasper::SetJoint::moveJoint(), postParentCompletion(), and SpeechNode::postStart().

virtual void StateNode::postStateFailure

(

)

[protected, virtual]

posts a DataEvent<SuccessOrFailure>(failure) indicating failure of the node; meaning of failure is used-defined

Definition at line 144 of file StateNode.h.

Referenced by TrackNode::cancelThisRequest(), PilotNode::cancelThisRequest(), MapBuilderNode::cancelThisRequest(), GrasperNode::cancelThisRequest(), GrasperNode::doEvent(), DualCoding::Pilot::PushObjectMachine::CheckObjectPos::doStart(), DualCoding::Pilot::PushObjectMachine::ChoosePathObjToDest::doStart(), DualCoding::Pilot::PushObjectMachine::ChoosePathInitToObj::doStart(), DualCoding::Pilot::LocalizationUtility::PrepareForNextGazePoint::doStart(), DualCoding::Pilot::LocalizationUtility::CheckEnoughLandmarks::doStart(), KoduInterpreter::PageSwitchActionRunner::SwitchToNewPage::doStart(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::CreateFinalApproachCommand::doStart(), KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::Grab::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionGripperObject::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart(), KoduInterpreter::GrabActionRunner::GrabActionStart::IsObjectNear::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::RepositionObject::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RecordAprilTagPos::doStart(), KoduInterpreter::DropActionRunner::DropActionStart::doStart(), KoduInterpreter::KoduConditionEvaluator::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::GetTagLocation::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionGripperObject::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::SetGrasperTarget::doStart(), KoduInterpreter::PerceptualMultiplexor::MultiplexorEnd::doStart(), KoduInterpreter::InitializeAgent::ParseKode::doStart(), KoduInterpreter::InitializeAgent::CreateWorld::doStart(), Grasper::PlanBodyTransport::doStart(), Grasper::PlanBodyApproach::doStart(), MCNodeBase::motionFails(), postParentFailure(), and FFPlanNode::postStart().

template<typename T >

void StateNode::postStateSignal

(

const T &

value = T()

)

[protected]

Posts a DataEvent through stateSignalEGID that can be picked up by a SignalTrans. value is optional.

Definition at line 164 of file StateNode.h.

Referenced by postParentSignal().

void StateNode::postStateStart

(

)

[protected, virtual]

will post an activation event through stateMachineEGID, used when doStart() is called

Definition at line 126 of file StateNode.cc.

Referenced by start().

void StateNode::postStateStop

(

)

[protected, virtual]

will post an deactivation event through stateMachineEGID, used when doStop() is called

Definition at line 130 of file StateNode.cc.

Referenced by stop().

virtual void StateNode::postStateSuccess

(

)

[protected, virtual]

posts a DataEvent<SuccessOrFailure>(success) indicating success of the node; meaning of success is used-defined

Definition at line 147 of file StateNode.h.

Referenced by DualCoding::Pilot::PushObjectMachine::CheckObjectPos::doStart(), DualCoding::Pilot::PushObjectMachine::ChoosePathObjToDest::doStart(), DualCoding::Pilot::PushObjectMachine::ChoosePathInitToObj::doStart(), DualCoding::Pilot::PushObjectMachine::AddAcquirePt::doStart(), DualCoding::Pilot::PushObjectMachine::AddBackupPt::doStart(), DualCoding::Pilot::LocalizationUtility::CheckEnoughLandmarks::doStart(), DualCoding::Pilot::ExecutePlan::NextTask::doStart(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::CreateFinalApproachCommand::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionGripperObject::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart(), KoduInterpreter::GrabActionRunner::GrabActionStart::IsObjectNear::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::RepositionObject::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RecordAprilTagPos::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::GetTagLocation::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionGripperObject::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::SetGrasperTarget::doStart(), KoduInterpreter::InitializeAgent::ParseKode::doStart(), Grasper::IfRequestIs::doStart(), and postParentSuccess().

void StateNode::setRetain

(

bool

f

)

Sets the retain flag - if not retained, will removeReference() subnodes upon stop() and recreate them on start (by calling setup()) - may be too expensive to be worth saving memory...

Definition at line 69 of file StateNode.h.

virtual void StateNode::setSpeechText

(

const std::string &

text

)

[virtual]

Set text to speak on node start.

Definition at line 103 of file StateNode.h.

virtual void StateNode::setup

(

)

[virtual]

This is called by start() when it should setup the network of subnodes (if any).

Reimplemented in Grasper::DoArmApproach, Grasper::DoArmDeliver, Grasper::Rest, Grasper::OpenTheGripper, Grasper::CloseTheGripper, Grasper, ResetArm, ResetGripper, ParkArm, DualCoding::Pilot::ExecutePlan, DualCoding::Pilot::LocalizationUtility, DualCoding::Pilot::LocalizationMachine, DualCoding::Pilot::WalkMachine, DualCoding::Pilot::WaypointWalkMachine, DualCoding::Pilot::SetVelocityMachine, DualCoding::Pilot::GoToShapeMachine, DualCoding::Pilot::PushObjectMachine, DualCoding::Pilot::VisualSearchMachine, DualCoding::Pilot::SetOdometryMachine, DualCoding::Pilot::Dispatch, DualCoding::Pilot, KoduInterpreter::InitializeAgent, KoduInterpreter::PerceptualMultiplexor::MapBuilderTaskRunner, KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::InitiateManipRecovery, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery, KoduInterpreter::PerceptualMultiplexor::FailureRecovery::LocalizeAgent, KoduInterpreter::PerceptualMultiplexor::FailureRecovery, KoduInterpreter::PerceptualMultiplexor, KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject, KoduInterpreter::DropActionRunner::ExecuteDrop, KoduInterpreter::DropActionRunner, KoduInterpreter::GrabActionRunner::GrabActionStart, KoduInterpreter::GrabActionRunner::PrepareBody, KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed, KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp, KoduInterpreter::GrabActionRunner::ExecuteGrabAction, KoduInterpreter::GrabActionRunner, KoduInterpreter::GiveActionRunner, KoduInterpreter::ReceiveActionRunner, KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion, KoduInterpreter::MotionActionRunner::ExecuteMotionAction, KoduInterpreter::MotionActionRunner, KoduInterpreter::PageSwitchActionRunner, KoduInterpreter::PlayActionRunner, and LookAtMarkers.

Definition at line 75 of file StateNode.h.

Referenced by start().

void StateNode::start

(

)

[virtual]

Transitions should call this when entering the state, so it can enable its transitions.

This could be implemented slightly more simply as a pre/postStart() pair, but keeping our specialization in start() itself allows us to keep pre/postStart empty (thus more robust to subclass overrides forgetting to call their superclass version, but also avoids any potential subclass mis-handling of transition fire while in preStart)

Reimplemented from BehaviorBase.

Definition at line 62 of file StateNode.cc.

Referenced by Grasper::dispatch(), DualCoding::Pilot::Dispatch::doStart(), KoduInterpreter::PageSwitchActionRunner::PageSwitchEnd::doStart(), KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::Grab::doStart(), KoduInterpreter::GiveActionRunner::Drop::doStart(), KoduInterpreter::KoduActionRunner::doStart(), KoduInterpreter::KoduConditionEvaluator::doStart(), KoduInterpreter::PerceptualMultiplexor::MultiplexorEnd::doStart(), OutputNode::postStart(), and start().

void StateNode::stop

(

)

[virtual]

Transitions should call this when leaving the state, so it can disable its transitions.

Reimplemented from BehaviorBase.

Reimplemented in LedActivate, LogNode, MCNodeBase, RecordMotionNode, SoundNode, SpeechNode, WalkNode, WaypointEngineNode< W, mcName, mcDesc >, PilotNode, TrackNode, and KoduInterpreter::MotionActionRunner.

Definition at line 96 of file StateNode.cc.

Referenced by LookAtMarkers::DummyFinish::doStart(), KoduInterpreter::PageSwitchActionRunner::PageSwitchStart::doStart(), Grasper::NextRequest::doStart(), Grasper::doStop(), and OutputNode::postStart().

void StateNode::teardown

(

)

[virtual]

This is called by stop() when you should destruct subnodes.

Default implementation will take care of the subnodes and their transitions, you only need to worry about any *other* memory which may have been allocated. If none, you may not need implement this function at all.

Definition at line 117 of file StateNode.cc.

Referenced by stop(), and ~StateNode().

template<typename T >

static const T* StateNode::tryExtractSignal

(

const EventBase *

ev

)

[static]

Try to extract data from a signal sent to this state via Transition::fire(const EventBase&).

Definition at line 117 of file StateNode.h.

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Friends And Related Function Documentation

friend class Transition [friend]

Definition at line 32 of file StateNode.h.

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Member Data Documentation

bool StateNode::issetup [protected]

this is set to true if the network has been setup but not destroyed (i.e. don't need to call setupSubNodes again)

Definition at line 176 of file StateNode.h.

Referenced by start(), stop(), teardown(), and ~StateNode().

std::vector<StateNode*> StateNode::nodes [protected]

vector of StateNodes, just so they can be dereferenced again on doStop() (unless retained) or ~StateNode()

Definition at line 182 of file StateNode.h.

Referenced by addNode(), getChild(), getNodes(), getSibling(), GroupNode::postStart(), stop(), teardown(), and ~StateNode().

StateNode* StateNode::parent [protected]

pointer to the machine that contains this node

Definition at line 170 of file StateNode.h.

Referenced by addNode(), getParent(), getSibling(), and start().

bool StateNode::retain [protected]

this is set to true if the network should be retained between activations. Otherwise it's dereferenced upon doStop(). (or at least removeReference() is called on subnodes)

Definition at line 178 of file StateNode.h.

Referenced by setRetain(), and stop().

std::string StateNode::speechText [protected]

Text to speak on node start (for debugging).

Definition at line 188 of file StateNode.h.

Referenced by setSpeechText(), and start().

unsigned int StateNode::startedTime [protected]

the timestamp of last call to start()

Definition at line 180 of file StateNode.h.

Referenced by postStateCompletion(), and postStateStop().

StateNode* StateNode::startnode [protected]

starting node (should be a member of nodes)

Definition at line 185 of file StateNode.h.

Referenced by DualCoding::Pilot::setup(), DualCoding::Pilot::Dispatch::setup(), DualCoding::Pilot::SetOdometryMachine::setup(), DualCoding::Pilot::VisualSearchMachine::setup(), DualCoding::Pilot::PushObjectMachine::setup(), DualCoding::Pilot::GoToShapeMachine::setup(), DualCoding::Pilot::SetVelocityMachine::setup(), DualCoding::Pilot::WaypointWalkMachine::setup(), DualCoding::Pilot::WalkMachine::setup(), DualCoding::Pilot::LocalizationMachine::setup(), DualCoding::Pilot::LocalizationUtility::setup(), DualCoding::Pilot::ExecutePlan::setup(), ParkArm::setup(), ResetGripper::setup(), ResetArm::setup(), LookAtMarkers::setup(), KoduInterpreter::PlayActionRunner::setup(), KoduInterpreter::PageSwitchActionRunner::setup(), KoduInterpreter::MotionActionRunner::setup(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::setup(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::setup(), KoduInterpreter::ReceiveActionRunner::setup(), KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::setup(), KoduInterpreter::GiveActionRunner::setup(), KoduInterpreter::GiveActionRunner::PositionBody::setup(), KoduInterpreter::GrabActionRunner::setup(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::setup(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::setup(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::setup(), KoduInterpreter::GrabActionRunner::PrepareBody::setup(), KoduInterpreter::GrabActionRunner::GrabActionStart::setup(), KoduInterpreter::DropActionRunner::setup(), KoduInterpreter::DropActionRunner::ExecuteDrop::setup(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::setup(), KoduInterpreter::PerceptualMultiplexor::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::LocalizeAgent::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::InitiateManipRecovery::setup(), KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner::setup(), KoduInterpreter::PerceptualMultiplexor::MapBuilderTaskRunner::setup(), KoduInterpreter::InitializeAgent::setup(), Grasper::setup(), Grasper::CloseTheGripper::setup(), Grasper::OpenTheGripper::setup(), Grasper::Rest::setup(), Grasper::DoArmDeliver::setup(), Grasper::Verify::setup(), Grasper::DoArmApproach::setup(), start(), and teardown().

std::vector<Transition*> StateNode::transitions [protected]

a vector of outgoing transitions

Definition at line 172 of file StateNode.h.

Referenced by addTransition(), getTransitions(), start(), stop(), and ~StateNode().

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

• StateNode.h
• StateNode.cc