heading_calculator::Task Class Reference

#include <Task.hpp>

Inheritance diagram for heading_calculator::Task:

Public Member Functions
	Task (std::string const &name="heading_calculator::Task", TaskCore::TaskState initial_state=Stopped)
	Task (std::string const &name, RTT::ExecutionEngine *engine, TaskCore::TaskState initial_state=Stopped)
	~Task ()
bool	configureHook ()
	The following lines are template definitions for the various state machine. More...
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()

Protected Attributes
base::Trajectory	mTrajectory
base::samples::RigidBodyState	mPose
double	mGuess
double	mPosSpline
	Guessed robot position on the spline. More...
bool	mTrajectoryReceived
	Robot position on the spline. More...

Friends
class	TaskBase

Constructor & Destructor Documentation

Task() [1/2]

Task::Task	(	std::string const &	name = "heading_calculator::Task",
		TaskCore::TaskState	initial_state = Stopped
	)

Task() [2/2]

Task::Task	(	std::string const &	name,
		RTT::ExecutionEngine *	engine,
		TaskCore::TaskState	initial_state = Stopped
	)

~Task()

Task::~Task

(

)

Member Function Documentation

cleanupHook()

void Task::cleanupHook

(

)

This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.

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

errorHook()

void Task::errorHook

(

)

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.

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 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

mGuess

double heading_calculator::Task::mGuess

protected

mPose

base::samples::RigidBodyState heading_calculator::Task::mPose

protected

mPosSpline

double heading_calculator::Task::mPosSpline

protected

Guessed robot position on the spline.

mTrajectory

base::Trajectory heading_calculator::Task::mTrajectory

protected

mTrajectoryReceived

bool heading_calculator::Task::mTrajectoryReceived

protected

Robot position on the spline.

---

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

• /build/rock-master-18.09-planning-orogen-heading-calculator-0.20131127/tasks/Task.hpp
• /build/rock-master-18.09-planning-orogen-heading-calculator-0.20131127/tasks/Task.cpp