A state that monitors odometry data and transitions based on a specified count. More...

Inheritance diagram for PrintOdometryState:

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Collaboration diagram for PrintOdometryState:

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Public Member Functions
	PrintOdometryState (int times)
	Constructor for the PrintOdometryState class.

std::string	monitor_handler (std::shared_ptr< yasmin::blackboard::Blackboard > blackboard, std::shared_ptr< nav_msgs::msg::Odometry > msg)
	Handler for processing odometry data.

Public Member Functions inherited from yasmin_ros::MonitorState< nav_msgs::msg::Odometry >
	MonitorState (const std::string &topic_name, const std::set< std::string > &outcomes, MonitorHandler monitor_handler, rclcpp::QoS qos=10, int msg_queue=10, int timeout=-1, int maximum_retry=3)
	Construct a new MonitorState with specific QoS, message queue, and timeout.

	MonitorState (const std::string &topic_name, const std::set< std::string > &outcomes, MonitorHandler monitor_handler, rclcpp::QoS qos=10, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr, int msg_queue=10, int timeout=-1, int maximum_retry=3)
	Construct a new MonitorState with specific QoS, message queue, and timeout.

	MonitorState (const rclcpp::Node::SharedPtr &node, const std::string &topic_name, const std::set< std::string > &outcomes, MonitorHandler monitor_handler, rclcpp::QoS qos=10, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr, int msg_queue=10, int timeout=-1, int maximum_retry=3)
	Construct a new MonitorState with ROS 2 node, specific QoS, message queue, and timeout.

std::string	execute (std::shared_ptr< yasmin::blackboard::Blackboard > blackboard) override
	Execute the monitoring operation and process the first received message.

void	cancel_state ()
	Cancel the current monitor state.

Public Member Functions inherited from yasmin::State
	State (const std::set< std::string > &outcomes)
	Constructs a State with a set of possible outcomes.

StateStatus	get_status () const
	Gets the current status of the state.

bool	is_idle () const
	Checks if the state is idle.

bool	is_running () const
	Checks if the state is currently running.

bool	is_canceled () const
	Checks if the state has been canceled.

bool	is_completed () const
	Checks if the state has completed execution.

std::string	operator() (std::shared_ptr< blackboard::Blackboard > blackboard)
	Executes the state and returns the outcome.

std::set< std::string > const &	get_outcomes ()
	Gets the set of possible outcomes for this state.

virtual std::string	to_string ()
	Converts the state to a string representation.

Public Attributes
int	times
	The number of times the state will process messages.

Additional Inherited Members
Protected Attributes inherited from yasmin_ros::MonitorState< nav_msgs::msg::Odometry >
rclcpp::Node::SharedPtr	node_
	Shared pointer to the ROS 2 node.

Protected Attributes inherited from yasmin::State
std::set< std::string >	outcomes
	The possible outcomes of this state.

Detailed Description

A state that monitors odometry data and transitions based on a specified count.

This class inherits from yasmin_ros::MonitorState and listens to the "odom" topic for nav_msgs::msg::Odometry messages. The state transitions once a specified number of messages has been received and processed.

Constructor & Destructor Documentation

◆ PrintOdometryState()

PrintOdometryState::PrintOdometryState ( int times )

inline

Constructor for the PrintOdometryState class.

Parameters

times Number of times to print odometry data before transitioning.

Member Function Documentation

◆ monitor_handler()

std::string PrintOdometryState::monitor_handler	(	std::shared_ptr< yasmin::blackboard::Blackboard >	blackboard,
		std::shared_ptr< nav_msgs::msg::Odometry >	msg )

inline

Handler for processing odometry data.

This function logs the x, y, and z positions from the odometry message. After processing, it decreases the times counter. When the counter reaches zero, the state transitions to "outcome2"; otherwise, it remains in "outcome1".

Parameters

blackboard	Shared pointer to the blackboard (unused in this implementation).
msg	Shared pointer to the received odometry message.

Returns: A string representing the outcome: "outcome1" to stay in the state, or "outcome2" to transition out of the state.

Member Data Documentation

◆ times

int PrintOdometryState::times

The number of times the state will process messages.

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

yasmin_demos/src/monitor_demo.cpp

Public Member Functions

Public Attributes