state_machine.h
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00001 /*
00002  * Copyright (c) 2012, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  * 
00029  * Author: David Gossow
00030  */
00031 /*
00032  * state_machine.h
00033  *
00034  *  Created on: Jul 17, 2012
00035  *      Author: gossow
00036  */
00037 
00038 #ifndef INTERACTIVE_MARKERS_STATE_MACHINE_H_
00039 #define INTERACTIVE_MARKERS_STATE_MACHINE_H_
00040 
00041 #include <ros/ros.h>
00042 
00043 namespace interactive_markers
00044 {
00045 
00046 // Helper class for state management
00047 template<class StateT>
00048 class StateMachine
00049 {
00050 public:
00051   StateMachine( std::string name, StateT init_state );
00052   StateMachine& operator=( StateT state );
00053   operator StateT();
00054   ros::Duration getDuration();
00055 private:
00056   StateT state_;
00057   ros::Time chg_time_;
00058   std::string name_;
00059 };
00060 
00061 template<class StateT>
00062 StateMachine<StateT>::StateMachine( std::string name, StateT init_state )
00063 : name_(name)
00064 {
00065   operator=(init_state);
00066 };
00067 
00068 template<class StateT>
00069 StateMachine<StateT>& StateMachine<StateT>::operator=( StateT state )
00070 {
00071   if ( state_ != state )
00072   {
00073     ROS_DEBUG( "Setting state of %s to %lu", name_.c_str(), (int64_t)state );
00074     state_ = state;
00075     chg_time_=ros::Time::now();
00076   }
00077   return *this;
00078 }
00079 
00080 template<class StateT>
00081 ros::Duration StateMachine<StateT>::getDuration()
00082 {
00083   return ros::Time::now()-chg_time_;
00084 }
00085 
00086 template<class StateT>
00087 StateMachine<StateT>::operator StateT()
00088 {
00089   return state_;
00090 }
00091 
00092 }
00093 
00094 #endif /* STATE_MACHINE_H_ */


interactive_markers
Author(s): David Gossow
autogenerated on Fri Aug 28 2015 11:11:26