ptu_directedperception::Task Class Reference

#include <Task.hpp>

Inheritance diagram for ptu_directedperception::Task:

Public Member Functions
	Task (std::string const &name="ptu_directedperception::DirectedPerceptionTask")
	Task (std::string const &name, RTT::ExecutionEngine *engine)
	~Task ()
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	stopHook ()

Protected Member Functions
virtual ::base::Vector2d	ptFromRBS (::base::samples::RigidBodyState const &rbs_in)
virtual ::base::samples::RigidBodyState	rbsFromPT (::base::Vector2d const &pt_in)
virtual ::base::samples::RigidBodyState	rbsFromPanTilt (double pan, double tilt)
void	processIO ()

Protected Attributes
boost::shared_ptr< DriverImpl >	mpImpl

Friends
class	TaskBase

Constructor & Destructor Documentation

Task() [1/2]

Task::Task

(

std::string const &

name = "ptu_directedperception::DirectedPerceptionTask"

)

TaskContext constructor for Task

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.
initial_state	The initial TaskState of the TaskContext. Default is Stopped state.

Task() [2/2]

Task::Task	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

TaskContext constructor for Task

Parameters

name	Name of the task. This name needs to be unique to make it identifiable for nameservices.
engine	The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.

~Task()

Task::~Task

(

)

Default deconstructor of Task

Member Function Documentation

configureHook()

bool Task::configureHook

(

)

This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.

It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):

task_context "TaskName" do
  needs_configuration
  ...
end

processIO()

void Task::processIO ( )

protected

ptFromRBS()

base::Vector2d Task::ptFromRBS ( ::base::samples::RigidBodyState const &  rbs_in )

protected

rbsFromPanTilt()

base::samples::RigidBodyState Task::rbsFromPanTilt ( double  pan, double  tilt  )

protected

rbsFromPT()

base::samples::RigidBodyState Task::rbsFromPT ( ::base::Vector2d const &  pt_in )

protected

startHook()

bool Task::startHook

(

)

This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.

stopHook()

void Task::stopHook

(

)

This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.

Call recover() to go back in the Runtime state. This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

updateHook()

void Task::updateHook

(

)

This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.

The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.

In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.

Friends And Related Function Documentation

TaskBase

friend class TaskBase

friend

Member Data Documentation

mpImpl

boost::shared_ptr<DriverImpl> ptu_directedperception::Task::mpImpl

protected

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

• /build/rock-master-18.09-drivers-orogen-ptu-directedperception-0.20130626/tasks/Task.hpp
• /build/rock-master-18.09-drivers-orogen-ptu-directedperception-0.20130626/tasks/Task.cpp