#include <step_queue.h>
Public Types | |
| typedef boost::shared_ptr < const StepQueue > | ConstPtr |
| typedef boost::shared_ptr < StepQueue > | Ptr |
Public Member Functions | |
| bool | empty () const |
| Checks if there are steps in queue. | |
| int | firstStepIndex () const |
| Returns next step index enqueued for execution. | |
| bool | getStep (msgs::Step &step, unsigned int step_index=0u) |
| Retrieves step of execution queue. | |
| bool | getStepAt (msgs::Step &step, unsigned int position=0u) |
| Retrieves step of execution queue. | |
| 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] | |
| int | lastStepIndex () const |
| Returns last step index enqueued for execution. | |
| bool | popStep (msgs::Step &step) |
| Dequeues and returns next step from execution queue. | |
| bool | popStep () |
| void | removeStep (unsigned int step_index) |
| Remove steps with specific index from queue. | |
| void | removeSteps (unsigned int from_step_index, int to_step_index=-1) |
| Remove steps in the given range [from_step_index, to_step_index]. | |
| void | reset () |
| size_t | size () const |
| Returns size of step queue. | |
| 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: 1. In case of an empty execution queue (robot is standing) the step plan has to begin with step index 0. 2. In case of an non-empty execution queue (robot is walking) TODO: Stitching rules, new total step plan length. | |
| virtual | ~StepQueue () |
Protected Attributes | |
| boost::shared_mutex | queue_mutex_ |
| StepPlan | step_plan_ |
Definition at line 43 of file step_queue.h.
| typedef boost::shared_ptr<const StepQueue> vigir_step_control::StepQueue::ConstPtr |
Definition at line 48 of file step_queue.h.
| typedef boost::shared_ptr<StepQueue> vigir_step_control::StepQueue::Ptr |
Definition at line 47 of file step_queue.h.
Definition at line 7 of file step_queue.cpp.
| vigir_step_control::StepQueue::~StepQueue | ( | ) | [virtual] |
Definition at line 11 of file step_queue.cpp.
| bool vigir_step_control::StepQueue::empty | ( | ) | const |
Checks if there are steps in queue.
Definition at line 21 of file step_queue.cpp.
| int vigir_step_control::StepQueue::firstStepIndex | ( | ) | const |
Returns next step index enqueued for execution.
Definition at line 158 of file step_queue.cpp.
| bool vigir_step_control::StepQueue::getStep | ( | msgs::Step & | step, |
| unsigned int | step_index = 0u |
||
| ) |
Retrieves step of execution queue.
| 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. |
Definition at line 106 of file step_queue.cpp.
| bool vigir_step_control::StepQueue::getStepAt | ( | msgs::Step & | step, |
| unsigned int | position = 0u |
||
| ) |
Retrieves step of execution queue.
| 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. |
Definition at line 112 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]
| start_index | Starting index |
| end_index | Ending index |
Definition at line 118 of file step_queue.cpp.
| int vigir_step_control::StepQueue::lastStepIndex | ( | ) | const |
Returns last step index enqueued for execution.
Definition at line 169 of file step_queue.cpp.
| bool vigir_step_control::StepQueue::popStep | ( | msgs::Step & | step | ) |
Dequeues and returns next step from execution queue.
| step | Outgoing variable for dequeued step. |
Definition at line 146 of file step_queue.cpp.
Definition at line 152 of file step_queue.cpp.
| void vigir_step_control::StepQueue::removeStep | ( | unsigned int | step_index | ) |
Remove steps with specific index from queue.
| step_index | Step to be removed |
Definition at line 134 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].
| 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 140 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.
Definition at line 27 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: 1. In case of an empty execution queue (robot is standing) the step plan has to begin with step index 0. 2. In case of an non-empty execution queue (robot is walking) TODO: Stitching rules, new total step plan length.
| step_plan | Step plan to be merged into execution queue. |
| min_step_index | Only steps with index >= min_step_index are considered for merge |
check for consistency
merge step plan
Definition at line 33 of file step_queue.cpp.
boost::shared_mutex vigir_step_control::StepQueue::queue_mutex_ [mutable, protected] |
Definition at line 139 of file step_queue.h.
StepPlan vigir_step_control::StepQueue::step_plan_ [protected] |
Definition at line 136 of file step_queue.h.