.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_detail_impl_Phase.hpp:

Program Listing for File impl_Phase.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_detail_impl_Phase.hpp>` (``/tmp/ws/src/rmf_task/rmf_task_sequence/include/rmf_task_sequence/detail/impl_Phase.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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