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

Inheritance diagram for PrintOdometryState:

[legend]

Collaboration diagram for PrintOdometryState:

[legend]

Public Member Functions
	PrintOdometryState ()
	Constructor for the PrintOdometryState class.
std::string	monitor_handler (yasmin::Blackboard::SharedPtr blackboard, nav_msgs::msg::Odometry::SharedPtr 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 yasmin::Outcomes &outcomes, MonitorHandler monitor_handler, rclcpp::QoS qos=10, int msg_queue=10, int timeout=-1, int maximum_retry=3)
	Shared pointer type for MonitorState.
std::string	execute (yasmin::Blackboard::SharedPtr blackboard) override
	Execute the monitoring operation and process the first received message.
void	cancel_state () override
	Cancel the current monitor state.
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.

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
Outcomes	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 ( )

inline

Constructor for the PrintOdometryState class.

Member Function Documentation

◆ monitor_handler()

std::string PrintOdometryState::monitor_handler	(	yasmin::Blackboard::SharedPtr	blackboard,
		nav_msgs::msg::Odometry::SharedPtr	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