Tekkotsu Homepage
Demos
Overview
Downloads
Dev. Resources
Reference
Credits

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 TransitionaddTransition (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 StateNodeaddNode (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 StateNodegetParent () 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 StateNodegetChild (const std::string &name) const
 returns node with specified name that is a child of this node
virtual StateNodegetSibling (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

StateNodeparent
 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()
StateNodestartnode
 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

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 ( 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]
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::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]
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.


Friends And Related Function Documentation

friend class Transition [friend]

Definition at line 32 of file StateNode.h.


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().

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().

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().


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

Tekkotsu v5.1CVS
Generated Mon May 9 04:59:17 2016 by Doxygen 1.6.3