Program Listing for File transition.hpp
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// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef RCLCPP_LIFECYCLE__TRANSITION_HPP_
#define RCLCPP_LIFECYCLE__TRANSITION_HPP_
#include <string>
#include "rcl_lifecycle/data_types.h"
#include "rclcpp_lifecycle/state.hpp"
#include "rclcpp_lifecycle/visibility_control.h"
#include "rcutils/allocator.h"
namespace rclcpp_lifecycle
{
class Transition
{
public:
RCLCPP_LIFECYCLE_PUBLIC
Transition() = delete;
RCLCPP_LIFECYCLE_PUBLIC
explicit Transition(
uint8_t id,
const std::string & label = "",
rcutils_allocator_t allocator = rcutils_get_default_allocator());
RCLCPP_LIFECYCLE_PUBLIC
Transition(
uint8_t id, const std::string & label,
State && start, State && goal,
rcutils_allocator_t allocator = rcutils_get_default_allocator());
RCLCPP_LIFECYCLE_PUBLIC
explicit Transition(
const rcl_lifecycle_transition_t * rcl_lifecycle_transition_handle,
rcutils_allocator_t allocator = rcutils_get_default_allocator());
RCLCPP_LIFECYCLE_PUBLIC
Transition(const Transition & rhs);
RCLCPP_LIFECYCLE_PUBLIC
virtual ~Transition();
RCLCPP_LIFECYCLE_PUBLIC
Transition & operator=(const Transition & rhs);
RCLCPP_LIFECYCLE_PUBLIC
uint8_t
id() const;
RCLCPP_LIFECYCLE_PUBLIC
std::string
label() const;
RCLCPP_LIFECYCLE_PUBLIC
State
start_state() const;
RCLCPP_LIFECYCLE_PUBLIC
State
goal_state() const;
protected:
RCLCPP_LIFECYCLE_PUBLIC
void
reset() noexcept;
rcutils_allocator_t allocator_;
bool owns_rcl_transition_handle_;
rcl_lifecycle_transition_t * transition_handle_;
};
} // namespace rclcpp_lifecycle
#endif // RCLCPP_LIFECYCLE__TRANSITION_HPP_