wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS > Class Template Reference

Moves a robot forward until a condition occurs. More...

#include <conditional_motion.h>

List of all members.

Public Types
enum	ErrorCodes { SUCCESS = OsModel::SUCCESS, ERR_UNSPEC = OsModel::ERR_UNSPEC }
enum	Mode { VALUE, NONZERO }
typedef OsModel_P	OsModel
typedef Robot_P	Robot
typedef Value_P	value_t
typedef ConditionalMotion < OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >	self_type
typedef self_type *	self_pointer_t
typedef delegate0< value_t >	condition_delegate_t
typedef delegate0< void >	stop_delegate_t
typedef vector_static< OsModel, stop_delegate_t, MAX_RECEIVERS >	stop_delegates_t
Public Member Functions
int	init ()
int	init (Robot &)
int	destruct ()
int	move ()
	Move forward until the condition occurs.
int	check_condition ()
	Check if the stop condition is fullfilled and stop the robot if so.
void	on_state_change (int)
	Supposed to be used as a callback for register_state_callback at a robot.
template<typename T , value_t(T::*)(void) TMethod>
int	reg_condition (T *obj, Mode mode, value_t stop_value=value_t())
	Register condition method.
template<typename T , void(T::*)(void) TMethod>
int	reg_stop_callback (T *obj)
	The registered method will be called right after check_condition() has stopped the robot.
int	unreg_stop_callback (typename OsModel::size_t idx)

---

Detailed Description

template<typename OsModel_P, typename Robot_P, typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>
class wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >

Moves a robot forward until a condition occurs.

Parameters:

Template Parameters:

Robot_P

should implement TurnWalkMotion_concept.

---

Member Typedef Documentation

template<typename OsModel_P , typename Robot_P , typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>

typedef delegate0<value_t> wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::condition_delegate_t

template<typename OsModel_P , typename Robot_P , typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>

typedef OsModel_P wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::OsModel

template<typename OsModel_P , typename Robot_P , typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>

typedef Robot_P wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::Robot

template<typename OsModel_P , typename Robot_P , typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>

typedef self_type* wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::self_pointer_t

template<typename OsModel_P , typename Robot_P , typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>

typedef ConditionalMotion<OsModel_P, Robot_P, Value_P, MAX_RECEIVERS> wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::self_type

template<typename OsModel_P , typename Robot_P , typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>

typedef delegate0<void> wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::stop_delegate_t

template<typename OsModel_P , typename Robot_P , typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>

typedef vector_static<OsModel, stop_delegate_t, MAX_RECEIVERS> wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::stop_delegates_t

template<typename OsModel_P , typename Robot_P , typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>

typedef Value_P wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::value_t

---

Member Enumeration Documentation

template<typename OsModel_P , typename Robot_P , typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>

enum wiselib::ConditionalMotion::ErrorCodes

Enumerator:

SUCCESS
ERR_UNSPEC

template<typename OsModel_P , typename Robot_P , typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>

enum wiselib::ConditionalMotion::Mode

Enumerator:

VALUE
NONZERO

---

Member Function Documentation

template<typename OsModel_P , typename Robot_P , typename Value_P , typename OsModel_P::size_t MAX_RECEIVERS>

int wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::check_condition

(

)

Check if the stop condition is fullfilled and stop the robot if so.

See reg_condition() for details.

template<typename OsModel_P , typename Robot_P , typename Value_P , typename OsModel_P::size_t MAX_RECEIVERS>

int wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::destruct

(

void

)

template<typename OsModel_P , typename Robot_P , typename Value_P , typename OsModel_P::size_t MAX_RECEIVERS>

int wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::init

(

Robot &

robot

)

template<typename OsModel_P , typename Robot_P , typename Value_P , typename OsModel_P::size_t MAX_RECEIVERS>

int wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::init

(

void

)

template<typename OsModel_P , typename Robot_P , typename Value_P , typename OsModel_P::size_t MAX_RECEIVERS>

int wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::move

(

)

Move forward until the condition occurs.

Will return ERR_UNSPEC and not start motion when called before a condition has been set.

template<typename OsModel_P , typename Robot_P , typename Value_P , typename OsModel_P::size_t MAX_RECEIVERS>

void wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::on_state_change

(

int

state

)

Supposed to be used as a callback for register_state_callback at a robot.

Will call check_condition() if the state indicates there is new data available.

template<typename OsModel_P , typename Robot_P , typename Value_P , typename OsModel_P::size_t MAX_RECEIVERS>

template<typename T , Value_P(T::*)(void) TMethod>

int wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::reg_condition	(	T *	obj,
		Mode	mode,
		value_t	stop_value = value_t()
	)

Register condition method.

When check_condition() is invoked and TMethod() returns the value stop_value, motion will be stopped. TMethod may be 0 in which case the condition will be assumed to hold true as soon as check_condition() is being called.

template<typename OsModel_P , typename Robot_P , typename Value_P , typename OsModel_P::size_t MAX_RECEIVERS>

template<typename T , void(T::*)(void) TMethod>

int wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::reg_stop_callback

(

T *

obj

)

The registered method will be called right after check_condition() has stopped the robot.

template<typename OsModel_P , typename Robot_P , typename Value_P = int, typename OsModel_P::size_t MAX_RECEIVERS = 16>

int wiselib::ConditionalMotion< OsModel_P, Robot_P, Value_P, MAX_RECEIVERS >::unreg_stop_callback

(

typename OsModel::size_t

idx

)

---

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

• wiselib.testing/intermediate/robot/conditional_motion.h