Go to the graphical class hierarchy
This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 12]
| CBase | Abstract base state with virtual methods for implementation of states |
| ▼Crsm::BaseState | |
| Crsm::BootState | State being active until all vital systems are running and ready |
| Crsm::EmergencyStopState | State being active when the software emergency stop was pushed in the GUI |
| Crsm::IdleState | State being active when waiting for new inout |
| Crsm::TeleoperationState | State being active while the robot is teleoperated |
| Crsm::WaypointFollowingState | State to decide which waypoint will be the next navigation goal while in waypoint following mode |
| Crsm::RobotControlMux | Handles all command velocities and only allows the robot to move at all if no emergency stop is set and only move autonomous if autonomous operation is active |
| Crsm::ServiceProvider | Establishes communication between the different states and the RSM's periphery including the GUI. It offers services and publishes topics based on the variables that need to be saved during state transitions |
| Crsm::StateInterface | Handles the RSM transitions between the different state classes and holds a reference to the current and the upcoming state class |