#include <Task.hpp>
Public Member Functions | |
| Task (std::string const &name="vicon::Task") | |
| bool | configureHook () |
| The following lines are template definitions for the various state machine. More... | |
| bool | startHook () |
| void | updateHook () |
| void | stopHook () |
Protected Member Functions | |
| virtual ::base::samples::RigidBodyState | getZeroOrigin () |
Protected Attributes | |
| boost::shared_ptr< TaskImpl > | impl |
| boost::shared_ptr< vicon::ViconUncertainty< Eigen::Matrix4d > > | uncertainty |
Friends | |
| class | TaskBase |
Constructor & Destructor Documentation
◆ Task()
| Task::Task | ( | std::string const & | name = "vicon::Task" | ) |
Member Function Documentation
◆ configureHook()
| bool Task::configureHook | ( | ) |
The following lines are template definitions for the various state machine.
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
◆ getZeroOrigin()
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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 recovered() 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. See README.txt for different triggering options.
The warning(), error() and fatal() calls, when called in this hook, allow to get into the associated RunTimeWarning, RunTimeError and FatalError states.
In the first case, updateHook() is still called, and recovered() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook() and in the third case the component is stopped and resetError() needs to be called before starting it again.
Fill the Rbs transformation
Set uncertainty in the rbs
Push sample to the uncertainty
On line uncertainty
Friends And Related Function Documentation
◆ TaskBase
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friend |
Member Data Documentation
◆ impl
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protected |
◆ uncertainty
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protected |
The documentation for this class was generated from the following files:
