Struct MissionConfig

• Defined in File mission_config.hpp

Struct Documentation

struct MissionConfig

Configuration parameters for generic missions supported by AutoAPMS.

Public Types

using TreeResourceIdentity = auto_apms_behavior_tree::core::TreeResourceIdentity

Public Functions

MissionConfig() = default

Public Members

std::vector<TreeResourceIdentity> bringup

std::vector<TreeResourceIdentity> mission

std::vector<std::pair<TreeResourceIdentity, TreeResourceIdentity>> contingency

std::vector<std::pair<TreeResourceIdentity, TreeResourceIdentity>> emergency

std::vector<TreeResourceIdentity> shutdown

Public Static Functions

static MissionConfig fromResource(const MissionConfigResourceIdentity &identity)

Create a mission configuration from an installed resource.

The resource identity must be specified in the format <package_name>::<config_file_stem> or simply <config_file_stem>.

Parameters:

identity – Identity of the mission configuration resource.

Throws:

• auto_apms_util::exceptions::ResourceIdentityFormatError – if identity has wrong format.

• auto_apms_util::exceptions::ResourceError – if resource cannot be determined using identity.

Returns:

Object created from the corresponding resource.

Public Static Attributes

static const std::string YAML_KEY_BRINGUP

static const std::string YAML_KEY_MISSION

static const std::string YAML_KEY_CONTINGENCY

static const std::string YAML_KEY_EMERGENCY

static const std::string YAML_KEY_SHUTDOWN