Represents the action state for the Fibonacci action. More...

Inheritance diagram for FibonacciState:

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Collaboration diagram for FibonacciState:

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Public Member Functions
	FibonacciState ()
	Constructs a new FibonacciState object and initializes callbacks.
Fibonacci::Goal	create_goal_handler (yasmin::Blackboard::SharedPtr blackboard)
	Callback for creating the Fibonacci action goal.
std::string	response_handler (yasmin::Blackboard::SharedPtr blackboard, Fibonacci::Result::SharedPtr response)
	Callback for handling the action response.
void	print_feedback (yasmin::Blackboard::SharedPtr blackboard, std::shared_ptr< const Fibonacci::Feedback > feedback)
	Callback for printing action feedback.
Public Member Functions inherited from yasmin_ros::ActionState< Fibonacci >
	ActionState (const std::string &action_name, CreateGoalHandler create_goal_handler, const yasmin::Outcomes &outcomes, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Shared pointer type for ActionState.
void	cancel_state () override
	Cancel the current action state.
void	cancel_done ()
	Notify that the action cancellation has completed.
std::string	execute (yasmin::Blackboard::SharedPtr blackboard) override
	Execute the action and return the outcome.
Public Member Functions inherited from yasmin::State
	State (const Outcomes &outcomes)
	Shared pointer type for State.
virtual	~State ()
	Virtual destructor.
Blackboard::SharedPtr	get_parameters_blackboard () const
	Gets the private parameter blackboard of this state.
bool	is_idle () const noexcept
	Checks if the state is idle.
bool	is_running () const noexcept
	Checks if the state is currently running.
bool	is_canceled () const noexcept
	Checks if the state has been canceled.
bool	is_completed () const noexcept
	Checks if the state has completed execution.
std::string	operator() (Blackboard::SharedPtr blackboard)
	Executes the state and returns the outcome.
virtual void	configure ()
	Configures the state before execution.
Outcomes const &	get_outcomes () const noexcept
	Gets the set of possible outcomes for this state.
void	set_description (const std::string &description)
	Sets the description for this state.
const std::string &	get_description () const
	Gets the description of this state.
void	set_outcome_description (const std::string &outcome, const std::string &description)
	Sets a human-readable description for an outcome.
const std::string &	get_outcome_description (const std::string &outcome) const
	Gets the human-readable description for an outcome.
const std::unordered_map< std::string, std::string > &	get_outcome_descriptions () const
	Gets all outcome descriptions.
void	add_input_key (const BlackboardKeyInfo &key_info)
	Adds an input key to the state's metadata.
void	add_input_key (const std::string &key_name)
	Adds an input key with a name only.
void	add_input_key (const std::string &key_name, const std::string &description)
	Adds an input key with a name and description.
template<typename T>
void	add_input_key (const std::string &key_name, const std::string &description, T default_value)
	Adds an input key with a name, default value and description.
void	add_output_key (const BlackboardKeyInfo &key_info)
	Adds an output key to the state's metadata.
void	add_output_key (const std::string &key_name)
	Adds an output key with a name only.
void	add_output_key (const std::string &key_name, const std::string &description)
	Adds an output key with a name and description.
const std::vector< BlackboardKeyInfo > &	get_input_keys () const
	Gets the input keys metadata.
const std::vector< BlackboardKeyInfo > &	get_output_keys () const
	Gets the output keys metadata.
void	declare_parameter (const BlackboardKeyInfo &parameter_info)
	Declares a parameter in the state metadata.
void	declare_parameter (const std::string &parameter_name)
	Declares a parameter with a name only.
void	declare_parameter (const std::string &parameter_name, const std::string &description)
	Declares a parameter with a name and description.
template<typename T>
void	declare_parameter (const std::string &parameter_name, const std::string &description, T default_value)
	Declares a parameter with a name, description, and default value.
bool	has_parameter (const std::string &parameter_name) const
	Checks if a parameter exists in the state-local parameter storage.
template<typename T>
T	get_parameter (const std::string &parameter_name) const
	Gets a parameter from the state-local parameter storage.
template<typename T>
void	set_parameter (const std::string &parameter_name, T value)
	Sets a parameter in the state-local parameter storage.
bool	is_parameter_declared (const std::string &parameter_name) const
	Checks whether a parameter was declared in the state metadata.
void	copy_parameter_from (const State &source_state, const std::string &source_parameter_name, const std::string &target_parameter_name)
	Copies a parameter value from another state.
const std::vector< BlackboardKeyInfo > &	get_parameters () const
	Gets the declared parameter metadata.
const StateMetadata &	get_metadata () const
	Gets the complete state metadata.
virtual std::string	to_string () const
	Converts the state to a string representation.

Additional Inherited Members
Protected Attributes inherited from yasmin_ros::ActionState< Fibonacci >
rclcpp::Node::SharedPtr	node_
	Shared pointer to the ROS 2 node.
Protected Attributes inherited from yasmin::State
Outcomes	outcomes
	The possible outcomes of this state.

Detailed Description

Represents the action state for the Fibonacci action.

This class manages goal creation, response handling, and feedback processing for the Fibonacci action.

Constructor & Destructor Documentation

◆ FibonacciState()

FibonacciState::FibonacciState ( )

inline

Constructs a new FibonacciState object and initializes callbacks.

Member Function Documentation

◆ create_goal_handler()

Fibonacci::Goal FibonacciState::create_goal_handler ( yasmin::Blackboard::SharedPtr blackboard )

inline

Callback for creating the Fibonacci action goal.

Reads the order of the Fibonacci sequence from the blackboard.

Parameters

blackboard Shared pointer to the blackboard.

Returns: The Fibonacci goal with the specified order.

◆ print_feedback()

void FibonacciState::print_feedback	(	yasmin::Blackboard::SharedPtr	blackboard,
		std::shared_ptr< const Fibonacci::Feedback >	feedback )

inline

Callback for printing action feedback.

Displays each new partial Fibonacci sequence number as it is received.

Parameters

blackboard	Shared pointer to the blackboard (not used in this method).
feedback	Shared pointer to the feedback message with partial sequence.

◆ response_handler()

std::string FibonacciState::response_handler	(	yasmin::Blackboard::SharedPtr	blackboard,
		Fibonacci::Result::SharedPtr	response )

inline

Callback for handling the action response.

Stores the resulting Fibonacci sequence in the blackboard.

Parameters

blackboard	Shared pointer to the blackboard.
response	Shared pointer to the action result containing the sequence.

Returns: The outcome status indicating success.

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

yasmin_demos/src/action_client_demo.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FibonacciState()

Member Function Documentation

◆ create_goal_handler()

◆ print_feedback()

◆ response_handler()