TeleoperationState.cpp

Go to the documentation of this file.

#include <rsm_core/TeleoperationState.h>

namespace rsm {

TeleoperationState::TeleoperationState() {
}

TeleoperationState::~TeleoperationState() {
}

void TeleoperationState::onSetup() {
        _name = "Teleoperation";
}

void TeleoperationState::onEntry() {
}

void TeleoperationState::onActive() {
}

void TeleoperationState::onExit() {
}

void TeleoperationState::onExplorationStart(bool &success,
                std::string &message) {
        success = false;
        message = "Teleoperation active";
}

void TeleoperationState::onExplorationStop(bool &success,
                std::string &message) {
        success = false;
        message = "Exploration not running";
}

void TeleoperationState::onWaypointFollowingStart(bool &success,
                std::string &message) {
        success = false;
        message = "Teleoperation active";
}

void TeleoperationState::onWaypointFollowingStop(bool &success,
                std::string &message) {
        success = false;
        message = "Waypoint following not running";
}

void TeleoperationState::onInterrupt(int interrupt) {
        if (interrupt == EMERGENCY_STOP_INTERRUPT) {
                _stateinterface->transitionToVolatileState(
                                boost::make_shared<EmergencyStopState>());
                _interrupt_occured = true;
        } else if (interrupt == INTERRUPT_END) {
                _stateinterface->transitionToVolatileState(
                                boost::make_shared<IdleState>());
                _interrupt_occured = true;
        }

}

}