RunningCapabilityBase Class Reference

Non-template interface RobotHandle holds one of per capability type it has ever run, so it doesn't need to know ActionT itself for anything but sending a fresh goal (see run(), on the concrete subclass only). More...

#include <running_capability.hpp>

Inheritance diagram for RunningCapabilityBase:

Public Member Functions
virtual void	stop ()=0
	Asks the in-flight goal, if any, to stop.
virtual easyfleet::CapabilityState	state () const =0
virtual void	check_timeout ()=0
	Called periodically (from FleetSession::spin_some()) so a timeout passed to run() actually gets enforced without blocking the caller.

Detailed Description

Non-template interface RobotHandle holds one of per capability type it has ever run, so it doesn't need to know ActionT itself for anything but sending a fresh goal (see run(), on the concrete subclass only).

Member Function Documentation

check_timeout()

virtual void check_timeout ( )

pure virtual

Called periodically (from FleetSession::spin_some()) so a timeout passed to run() actually gets enforced without blocking the caller.

Implemented in RunningCapability< ActionT >.

state()

virtual easyfleet::CapabilityState state ( ) const

pure virtual

Returns

Current state, per the last run()/its outcome.

Implemented in RunningCapability< ActionT >.

stop()

virtual void stop ( )

pure virtual

Asks the in-flight goal, if any, to stop.

Implemented in RunningCapability< ActionT >.

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

• easyfleet_mission_manager/include/easyfleet_mission_manager/detail/running_capability.hpp