.. _program_listing_file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_detail_impl_Task.hpp:

Program Listing for File impl_Task.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rmf_task_rmf_task_sequence_include_rmf_task_sequence_detail_impl_Task.hpp>` (``/tmp/ws/src/rmf_task/rmf_task_sequence/include/rmf_task_sequence/detail/impl_Task.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_TASK_HPP
   #define RMF_TASK_SEQUENCE__DETAIL__IMPL_TASK_HPP
   
   #include <rmf_task_sequence/Task.hpp>
   
   namespace rmf_task_sequence {
   
   //==============================================================================
   template<typename OtherDesc>
   void Task::unfold(
     std::function<Description(const OtherDesc&)> unfold_description,
     rmf_task::Activator& task_activator,
     Phase::ConstActivatorPtr phase_activator,
     std::function<rmf_traffic::Time()> clock)
   {
     auto sequence_activator =
       make_activator(std::move(phase_activator), std::move(clock));
   
     task_activator.add_activator<OtherDesc>(
       [
         unfold = std::move(unfold_description),
         sequence_activator = std::move(sequence_activator)
       ](
         const std::function<State()>& get_state,
         const ConstParametersPtr& parameters,
         const Task::ConstBookingPtr& booking,
         const OtherDesc& other_desc,
         std::optional<std::string> backup_state,
         std::function<void(Phase::ConstSnapshotPtr)> update,
         std::function<void(rmf_task::Task::Active::Backup)> checkpoint,
         std::function<void(rmf_task::Phase::ConstCompletedPtr)> phase_finished,
         std::function<void()> task_finished)
       {
         return sequence_activator(
           get_state,
           parameters,
           booking,
           unfold(other_desc),
           std::move(backup_state),
           std::move(update),
           std::move(checkpoint),
           std::move(phase_finished),
           std::move(task_finished));
       });
   }
   
   } // namespace rmf_task_sequence
   
   #endif // RMF_TASK_SEQUENCE__DETAIL__IMPL_TASK_HPP