.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_events_detail_impl_Bundle.hpp:

Program Listing for File impl_Bundle.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_events_detail_impl_Bundle.hpp>` (``/tmp/ws/src/rmf_task/rmf_task_sequence/include/rmf_task_sequence/events/detail/impl_Bundle.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2021 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   #ifndef RMF_TASK_SEQUENCE__EVENTS__DETAIL__IMPL_BUNDLE_HPP
   #define RMF_TASK_SEQUENCE__EVENTS__DETAIL__IMPL_BUNDLE_HPP
   
   #include <rmf_task_sequence/events/Bundle.hpp>
   
   namespace rmf_task_sequence {
   namespace events {
   
   //==============================================================================
   template<typename OtherDesc>
   void Bundle::unfold(
     const UnfoldDescription<OtherDesc>& unfold_description,
     Event::Initializer& add_to,
     const Event::ConstInitializerPtr& initialize_from)
   {
     add_to.add<OtherDesc>(
       [initialize_from, unfold_description](
         const AssignIDPtr& id,
         const std::function<rmf_task::State()>& get_state,
         const ConstParametersPtr& parameters,
         const OtherDesc& description,
         std::function<void()> update)
       {
         return initiate(
           *initialize_from,
           id,
           get_state,
           parameters,
           unfold_description(description),
           std::move(update));
       },
       [initialize_from, unfold_description](
         const AssignIDPtr& id,
         const std::function<rmf_task::State()>& get_state,
         const ConstParametersPtr& parameters,
         const OtherDesc& description,
         const nlohmann::json& backup_state,
         std::function<void()> update,
         std::function<void()> checkpoint,
         std::function<void()> finished)
       {
         return restore(
           *initialize_from,
           id,
           get_state,
           parameters,
           unfold_description(description),
           backup_state,
           std::move(update),
           std::move(checkpoint),
           std::move(finished));
       });
   }
   
   
   } // namespace events
   } // namespace rmf_task_sequence
   
   #endif // RMF_TASK_SEQUENCE__EVENTS__DETAIL__IMPL_BUNDLE_HPP