yasmin::State Class Reference

Represents a state in a state machine. More...

#include <state.hpp>

Inheritance diagram for yasmin::State:

Collaboration diagram for yasmin::State:

Public Member Functions
	State (std::set< std::string > outcomes)
	Constructs a State with a set of possible outcomes.
std::string	operator() (std::shared_ptr< blackboard::Blackboard > blackboard)
	Executes the state and returns the outcome.
virtual std::string	execute (std::shared_ptr< blackboard::Blackboard > blackboard)
	Executes the state's specific logic.
virtual void	cancel_state ()
	Cancels the current state execution.
bool	is_canceled () const
	Checks if the state has been canceled.
bool	is_running () const
	Checks if the state is currently running.
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.

Protected Attributes
std::set< std::string >	outcomes
	The possible outcomes of this state.

Private Attributes
std::atomic_bool	canceled {false}
	Indicates if the state has been canceled.
std::atomic_bool	running {false}
	Indicates if the state is currently running.

Detailed Description

Represents a state in a state machine.

The State class defines a state that can execute actions and manage outcomes. It maintains information about its execution status (running or canceled) and the possible outcomes of its execution.

Constructor & Destructor Documentation

State()

State::State

(

std::set< std::string >

outcomes

)

Constructs a State with a set of possible outcomes.

Parameters

outcomes

A set of possible outcomes for this state.

Member Function Documentation

cancel_state()

virtual void yasmin::State::cancel_state ( )

inlinevirtual

Cancels the current state execution.

This method sets the canceled flag to true and logs the action.

Reimplemented in yasmin::StateMachine, yasmin_ros::ActionState< ActionT >, and yasmin_ros::ActionState< Fibonacci >.

execute()

virtual std::string yasmin::State::execute ( std::shared_ptr< blackboard::Blackboard > blackboard )

inlinevirtual

Executes the state's specific logic.

Parameters

blackboard

A shared pointer to the Blackboard to use during execution.

Returns

A string representing the outcome of the execution.

This method is intended to be overridden by derived classes to provide specific execution logic.

Reimplemented in BarState, FooState, yasmin::CbState, yasmin::StateMachine, yasmin_ros::ActionState< ActionT >, yasmin_ros::ActionState< Fibonacci >, yasmin_ros::MonitorState< MsgT >, yasmin_ros::MonitorState< nav_msgs::msg::Odometry >, yasmin_ros::ServiceState< ServiceT >, and yasmin_ros::ServiceState< example_interfaces::srv::AddTwoInts >.

get_outcomes()

std::set< std::string > const & State::get_outcomes

(

)

Gets the set of possible outcomes for this state.

Returns

A constant reference to the set of possible outcomes.

is_canceled()

bool State::is_canceled

(

)

const

Checks if the state has been canceled.

Returns

True if the state is canceled, otherwise false.

is_running()

bool State::is_running

(

)

const

Checks if the state is currently running.

Returns

True if the state is running, otherwise false.

operator()()

std::string State::operator()

(

std::shared_ptr< blackboard::Blackboard >

blackboard

)

Executes the state and returns the outcome.

Parameters

blackboard

A shared pointer to the Blackboard to use during execution.

Returns

A string representing the outcome of the execution.

This function stores the state as running, invokes the execute method, and checks if the returned outcome is valid. If the outcome is not valid, a std::logic_error is thrown.

Exceptions

std::logic_error

If the outcome is not in the set of outcomes.

to_string()

virtual std::string yasmin::State::to_string ( )

inlinevirtual

Converts the state to a string representation.

Returns

A string representation of the state.

This method retrieves the demangled name of the class for a readable string representation.

Reimplemented in yasmin::StateMachine.

Member Data Documentation

canceled

std::atomic_bool yasmin::State::canceled {false}

private

Indicates if the state has been canceled.

outcomes

std::set<std::string> yasmin::State::outcomes

protected

The possible outcomes of this state.

running

std::atomic_bool yasmin::State::running {false}

private

Indicates if the state is currently running.

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

• yasmin/include/yasmin/state.hpp
• yasmin/src/yasmin/state.cpp