#include <step_queue.h>

Public Types
typedef boost::shared_ptr< const StepQueue >	ConstPtr

typedef boost::shared_ptr< StepQueue >	Ptr

Public Member Functions
void	clearDirtyFlag ()
	Resets dirty flag. More...

bool	empty () const
	Checks if there are steps in queue. More...

int	firstStepIndex () const
	Returns next step index enqueued for execution. More...

bool	getStep (msgs::Step &step, unsigned int step_index=0u)
	Retrieves step of execution queue. More...

bool	getStepAt (msgs::Step &step, unsigned int position=0u)
	Retrieves step of execution queue. More...

std::vector< msgs::Step >	getSteps (unsigned int start_index, unsigned int end_index) const
	getSteps Retrieves all steps with index in range of [start_index; end_index] More...

bool	isDirty () const
	Returns if step queue has been changed. More...

int	lastStepIndex () const
	Returns last step index enqueued for execution. More...

bool	popStep (msgs::Step &step)
	Dequeues and returns next step from execution queue. More...

bool	popStep ()

void	removeStep (unsigned int step_index)
	Remove steps with specific index from queue. More...

void	removeSteps (unsigned int from_step_index, int to_step_index=-1)
	Remove steps in the given range [from_step_index, to_step_index]. More...

void	reset ()

size_t	size () const
	Returns size of step queue. More...

	StepQueue ()

bool	updateStepPlan (const msgs::StepPlan &step_plan, int min_step_index=0)
	Merges given step plan to the current execution queue of steps. Hereby, two cases have to considered: More...

virtual	~StepQueue ()

Protected Attributes
bool	is_dirty_

Mutex	queue_mutex_

StepPlan	step_plan_

Detailed Description

Definition at line 51 of file step_queue.h.

Member Typedef Documentation

typedef boost::shared_ptr<const StepQueue> vigir_step_control::StepQueue::ConstPtr

Definition at line 56 of file step_queue.h.

typedef boost::shared_ptr<StepQueue> vigir_step_control::StepQueue::Ptr

Definition at line 55 of file step_queue.h.

Constructor & Destructor Documentation

vigir_step_control::StepQueue::StepQueue ( )

Definition at line 7 of file step_queue.cpp.

vigir_step_control::StepQueue::~StepQueue ( )

virtual

Definition at line 11 of file step_queue.cpp.

Member Function Documentation

void vigir_step_control::StepQueue::clearDirtyFlag ( )

Resets dirty flag.

Definition at line 40 of file step_queue.cpp.

bool vigir_step_control::StepQueue::empty ( ) const

Checks if there are steps in queue.

Returns: True if any steps has been enqueued.

Definition at line 22 of file step_queue.cpp.

int vigir_step_control::StepQueue::firstStepIndex ( ) const

Returns next step index enqueued for execution.

Returns: Step index of next step in queue. If queue is empty -1 will be returned.

Definition at line 177 of file step_queue.cpp.

bool vigir_step_control::StepQueue::getStep	(	msgs::Step &	step,
		unsigned int	step_index = `0u`
	)

Retrieves step of execution queue.

Parameters

step	Outgoing variable for retrieved step.
index	Position of step in queue to be returned. 0 points to the next step to be executed next.

Returns: True If step could been returned.

Definition at line 121 of file step_queue.cpp.

bool vigir_step_control::StepQueue::getStepAt	(	msgs::Step &	step,
		unsigned int	position = `0u`
	)

Retrieves step of execution queue.

Parameters

step	Outgoing variable for retrieved step.
position	Position of step in queue to be returned. 0 points to the next step to be executed next.

Returns: True If step could been returned.

Definition at line 127 of file step_queue.cpp.

std::vector< msgs::Step > vigir_step_control::StepQueue::getSteps	(	unsigned int	start_index,
		unsigned int	end_index
	)		const

getSteps Retrieves all steps with index in range of [start_index; end_index]

Parameters

start_index	Starting index
end_index	Ending index

Returns: List of all found steps within given range of [start_index; end_index]

Definition at line 133 of file step_queue.cpp.

bool vigir_step_control::StepQueue::isDirty ( ) const

Returns if step queue has been changed.

Returns: true if recent changes have been appleid

Definition at line 34 of file step_queue.cpp.

int vigir_step_control::StepQueue::lastStepIndex ( ) const

Returns last step index enqueued for execution.

Returns: Step index of last step in queue. If queue is empty -1 will be returned.

Definition at line 188 of file step_queue.cpp.

bool vigir_step_control::StepQueue::popStep ( msgs::Step & step )

Dequeues and returns next step from execution queue.

Parameters

step	Outgoing variable for dequeued step.

Returns: True if step could been dequeued.

Definition at line 163 of file step_queue.cpp.

bool vigir_step_control::StepQueue::popStep ( )

Definition at line 170 of file step_queue.cpp.

void vigir_step_control::StepQueue::removeStep ( unsigned int step_index )

Remove steps with specific index from queue.

Parameters

step_index Step to be removed

Definition at line 149 of file step_queue.cpp.

void vigir_step_control::StepQueue::removeSteps	(	unsigned int	from_step_index,
		int	to_step_index = `-1`
	)

Remove steps in the given range [from_step_index, to_step_index].

Parameters

from_step_index	start index
to_step_index	end index; to_step_index < 0 is equal to removing all steps with index >= from_step_index

Definition at line 156 of file step_queue.cpp.

void vigir_step_control::StepQueue::reset ( )

Definition at line 15 of file step_queue.cpp.

size_t vigir_step_control::StepQueue::size ( ) const

Returns size of step queue.

Returns: Size of step queue

Definition at line 28 of file step_queue.cpp.

bool vigir_step_control::StepQueue::updateStepPlan	(	const msgs::StepPlan &	step_plan,
		int	min_step_index = `0`
	)

Merges given step plan to the current execution queue of steps. Hereby, two cases have to considered:

In case of an empty execution queue (robot is standing) the step plan has to begin with step index 0.
In case of an non-empty execution queue (robot is walking) TODO: Stitching rules, new total step plan length
Parameters

step_plan Step plan to be merged into execution queue.

min_step_index Only steps with index >= min_step_index are considered for merge

Returns
True if step plan could be merged.

check for consistency

merge step plan

Definition at line 46 of file step_queue.cpp.

Member Data Documentation

bool vigir_step_control::StepQueue::is_dirty_

protected

Definition at line 157 of file step_queue.h.

Mutex vigir_step_control::StepQueue::queue_mutex_

mutableprotected

Definition at line 160 of file step_queue.h.

StepPlan vigir_step_control::StepQueue::step_plan_

protected

Definition at line 155 of file step_queue.h.

The documentation for this class was generated from the following files:

step_plan	Step plan to be merged into execution queue.
min_step_index	Only steps with index >= min_step_index are considered for merge

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation