Program Listing for File impl_Phase.hpp
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/*
* 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__DETAIL__IMPL_PHASE_HPP
#define RMF_TASK_SEQUENCE__DETAIL__IMPL_PHASE_HPP
#include <rmf_task_sequence/Phase.hpp>
namespace rmf_task_sequence {
//==============================================================================
template<typename Desc>
void Phase::Activator::add_activator(Activate<Desc> activator)
{
_add_activator(
typeid(Desc),
[activator](
const std::function<State()>& get_state,
const ConstParametersPtr& parameters,
ConstTagPtr tag,
const Phase::Description& description,
std::optional<std::string> backup_state,
std::function<void(rmf_task::Phase::ConstSnapshotPtr)> phase_update,
std::function<void(Active::Backup)> phase_checkpoint,
std::function<void()> phase_finished)
{
return activator(
get_state,
parameters,
std::move(tag),
static_cast<const Desc&>(description),
std::move(backup_state),
std::move(phase_update),
std::move(phase_checkpoint),
std::move(phase_finished));
});
}
} // namespace rmf_task_sequence
#endif // RMF_TASK_SEQUENCE__DETAIL__IMPL_PHASE_HPP