statemachine.h File Reference

#include <franka/robot_state.h>
#include <franka_gazebo/joint.h>
#include <ros/ros.h>
#include <boost_sml/sml.hpp>
#include <map>
#include <memory>
#include <string>

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Classes
struct	franka_gazebo::ErrorRecovery
struct	franka_gazebo::Idle
struct	franka_gazebo::Move
struct	franka_gazebo::StateMachine
struct	franka_gazebo::SwitchControl
struct	franka_gazebo::UserStop
struct	franka_gazebo::UserStopped

Namespaces
	franka_gazebo

Typedefs
using	franka_gazebo::JointMap = std::map< std::string, std::shared_ptr< Joint > >

Variables
auto	franka_gazebo::contains
auto	franka_gazebo::idle = [](franka::RobotState& state) { state.robot_mode = franka::RobotMode::kIdle; }
auto	franka_gazebo::isPressed = [](const UserStop& event) { return event.pressed; }
auto	franka_gazebo::isReleased = [](const UserStop& event, const JointMap& joints) { return not event.pressed; }
auto	franka_gazebo::isStarting
auto	franka_gazebo::isStopping
auto	franka_gazebo::start = [](franka::RobotState& state) { state.robot_mode = franka::RobotMode::kMove; }
auto	franka_gazebo::stop