Class ModeManager

Defined in File mode_manager.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class ModeManager : public rclcpp::Node

Public Functions

ModeManager()

ModeManager(const ModeManager&) = delete

std::shared_ptr<ModeInference> inference()

virtual void handle_system_deviation(const std::string &reason)

virtual ~ModeManager() = default

Protected Functions

virtual void add_system(const std::string&)

virtual void add_node(const std::string&)

virtual void on_change_state(const std::string&, const std::shared_ptr<lifecycle_msgs::srv::ChangeState::Request>, std::shared_ptr<lifecycle_msgs::srv::ChangeState::Response>)

virtual void on_get_state(const std::string&, std::shared_ptr<lifecycle_msgs::srv::GetState::Response>)

virtual void on_get_available_states(const std::string&, std::shared_ptr<lifecycle_msgs::srv::GetAvailableStates::Response>)

virtual void on_change_mode(const std::string&, const std::shared_ptr<system_modes_msgs::srv::ChangeMode::Request>, std::shared_ptr<system_modes_msgs::srv::ChangeMode::Response>)

virtual void on_get_mode(const std::string&, std::shared_ptr<system_modes_msgs::srv::GetMode::Response>)

virtual void on_get_available_modes(const std::string&, std::shared_ptr<system_modes_msgs::srv::GetAvailableModes::Response>)

virtual bool change_state(const std::string&, unsigned int, bool transitive = true)

virtual bool change_mode(const std::string&, const std::string&)

virtual void change_part_state(const std::string&, unsigned int)

virtual void change_part_mode(const std::string&, const std::string&)

virtual void publish_transitions()