pilz_joint_trajectory_controller::TrajProcessingModeManager Class Reference

Encapsulates a state machine managing the current Trajectory-Processing-Mode. More...

#include <traj_mode_manager.h>

Public Member Functions
TrajProcessingMode	getCurrentMode ()
bool	isHolding ()
	Check if in state stopping or hold. More...
bool	startEvent ()
bool	stopEvent (HoldModeListener *const listener=nullptr)
void	stopMotionFinishedEvent ()
	Switch to hold. More...

Private Member Functions
void	callListener ()
	Triggers all registered listeners whose target mode is reached. More...
void	registerListener (HoldModeListener *const listener)
bool	switchTo (const TrajProcessingMode &mode)
	Perform transition if possible. More...

Private Attributes
TrajProcessingMode	current_mode_ { TrajProcessingMode::stopping }
std::list< HoldModeListener * >	listener_
const TrajProcessingModeStateMachine	mode_state_machine_ {}
std::mutex	mutex_
	Used to make all public methods mutually exclusive in order to protect the member variables. More...

Detailed Description

Encapsulates a state machine managing the current Trajectory-Processing-Mode.

All public methods are mutually exclusive. Initial mode is stopping in accordance to the controller.

Definition at line 82 of file traj_mode_manager.h.

Member Function Documentation

callListener()

void pilz_joint_trajectory_controller::TrajProcessingModeManager::callListener ( )

inlineprivate

Triggers all registered listeners whose target mode is reached.

Definition at line 164 of file traj_mode_manager.h.

getCurrentMode()

TrajProcessingMode pilz_joint_trajectory_controller::TrajProcessingModeManager::getCurrentMode ( )

inline

Definition at line 143 of file traj_mode_manager.h.

isHolding()

bool pilz_joint_trajectory_controller::TrajProcessingModeManager::isHolding ( )

inline

Check if in state stopping or hold.

Definition at line 137 of file traj_mode_manager.h.

registerListener()

void pilz_joint_trajectory_controller::TrajProcessingModeManager::registerListener ( HoldModeListener *const  listener )

inlineprivate

Definition at line 159 of file traj_mode_manager.h.

startEvent()

bool pilz_joint_trajectory_controller::TrajProcessingModeManager::startEvent ( )

inline

Returns

True if in state unhold or a successful switch to state unhold was performed, otherwise false.

Definition at line 194 of file traj_mode_manager.h.

stopEvent()

bool pilz_joint_trajectory_controller::TrajProcessingModeManager::stopEvent ( HoldModeListener *const  listener = nullptr )

inline

Returns

True only if a successful state switch to stopping was performed, otherwise false.

Definition at line 182 of file traj_mode_manager.h.

stopMotionFinishedEvent()

void pilz_joint_trajectory_controller::TrajProcessingModeManager::stopMotionFinishedEvent ( )

inline

Switch to hold.

Definition at line 204 of file traj_mode_manager.h.

switchTo()

bool pilz_joint_trajectory_controller::TrajProcessingModeManager::switchTo ( const TrajProcessingMode &  mode )

inlineprivate

Perform transition if possible.

Returns

True if transition was performed, otherwise false.

Definition at line 149 of file traj_mode_manager.h.

Member Data Documentation

current_mode_

TrajProcessingMode pilz_joint_trajectory_controller::TrajProcessingModeManager::current_mode_ { TrajProcessingMode::stopping }

private

Definition at line 109 of file traj_mode_manager.h.

listener_

std::list<HoldModeListener*> pilz_joint_trajectory_controller::TrajProcessingModeManager::listener_

private

Definition at line 110 of file traj_mode_manager.h.

mode_state_machine_

const TrajProcessingModeStateMachine pilz_joint_trajectory_controller::TrajProcessingModeManager::mode_state_machine_ {}

private

Definition at line 108 of file traj_mode_manager.h.

mutex_

std::mutex pilz_joint_trajectory_controller::TrajProcessingModeManager::mutex_

private

Used to make all public methods mutually exclusive in order to protect the member variables.

Definition at line 112 of file traj_mode_manager.h.

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

• traj_mode_manager.h