Reference

StateNode Class Reference

#include <StateNode.h>

Inheritance diagram for StateNode:

Detailed Description

Recursive data structure - both a state machine controller as well as a node within a state machine itself.

Override setup() to setup your own Transition and StateNode network.

Definition at line 12 of file StateNode.h.

Public Member Functions

StateNode ()

constructor

StateNode (const std::string &n, StateNode *p=NULL)

constructor, pass a name to use, calls setName(n)

virtual ~StateNode ()

destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls RemoveReference() on subnodes

virtual void addTransition (Transition *trans)

Adds the specified StateTransition to the transition table.

std::vector< Transition * > & getTransitions ()

Returns the std::vector of transitions so you can modify them yourself if need be.

virtual StateNode * addNode (StateNode *node)

Adds a StateNode to nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls AddReference() on node.

std::vector< StateNode * > & getNodes ()

Returns the std::vector of nodes so you can modify them yourself if need be.

void setRetain (bool f)

Sets the retain flag - if not retained, will RemoveReference() subnodes upon DoStop() and recreate them on DoStart (by calling setup()) - may be too expensive to be worth saving memory...

virtual void DoStart ()

Transitions should call this when you are entering the state, so it can enable its transitions.

virtual void setup ()

This is called by DoStart() when you should setup the network of subnodes.

virtual void DoStop ()

Transitions should call this when you are leaving the state, so it can disable its transitions.

virtual void teardown ()

This is called by DoStop() when you should destruct subnodes.

void setName (const std::string &n)

set name to n. Makes a copy of n, so you can throw it away later.

virtual std::string getName () const

returns name of StateNode

virtual std::string getDescription () const

returns name again (you should override this for top-level nodes to give users better descriptions)

Protected Member Functions

virtual void transitionTo (StateNode *n)

called by a subnode when it is being DoStart()'ed

virtual void transitionFrom (StateNode *n)

called by a subnode when it is being DoStop()'ed

Protected Attributes

StateNode * parent

pointer to the machine that contains this node

std::vector< Transition * > transitions

a vector of outgoing transitions

bool issetup

this is set to true if the network has been setup but not destroyed (i.e. don't need to call setupSubNodes again)

bool retain

this is set to true if the network should be retained between activations. Otherwise it's dereferenced upon DoStop(). (or at least RemoveReference() is called on subnodes)

std::vector< StateNode * > nodes

vector of StateNodes, just so they can be dereferenced again on DoStop() (unless retained) or ~StateNode()

std::string name

holds the name of the Node/Machine

Private Member Functions

StateNode (const StateNode &node)

don't call this

StateNode operator= (const StateNode &node)

don't call this

Constructor & Destructor Documentation

StateNode::StateNode ( ) [inline]

constructor

Definition at line 15 of file StateNode.h.

StateNode::StateNode ( const std::string & n,

StateNode * p = NULL

) [inline]

constructor, pass a name to use, calls setName(n)

Definition at line 18 of file StateNode.h.

StateNode::~StateNode ( ) [virtual]

destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls RemoveReference() on subnodes

Definition at line 5 of file StateNode.cc.

StateNode::StateNode ( const StateNode & node ) [private]

don't call this

Member Function Documentation

virtual StateNode* StateNode::addNode ( StateNode * node ) [inline, virtual]

Adds a StateNode to nodes so it can be automatically dereferenced later, returns what it's passed (for convenience), calls AddReference() on node.

Definition at line 32 of file StateNode.h.
Referenced by PaceTargetsMachine::setup(), ExploreMachine::setup(), and BanditMachine::setup().

void StateNode::addTransition ( Transition * trans ) [virtual]

Adds the specified StateTransition to the transition table.

Definition at line 15 of file StateNode.cc.
Referenced by WalkToTargetMachine::setup(), PaceTargetsMachine::setup(), ExploreMachine::setup(), and BanditMachine::setup().

void StateNode::DoStart ( ) [virtual]

Transitions should call this when you are entering the state, so it can enable its transitions.

Reimplemented from BehaviorBase.
Reimplemented in BanditMachine, BanditMachine::PressNode, BanditMachine::DecideNode, BanditMachine::WaitNode, ExploreMachine, PaceTargetsMachine, WalkToTargetMachine, GroupNode, OutputNode, PlayMotionSequenceNode< SIZE >, and WalkNode.
Definition at line 21 of file StateNode.cc.
Referenced by WalkToTargetMachine::DoStart(), WalkNode::DoStart(), PlayMotionSequenceNode< SIZE >::DoStart(), PaceTargetsMachine::DoStart(), OutputNode::DoStart(), GroupNode::DoStart(), ExploreMachine::DoStart(), BanditMachine::WaitNode::DoStart(), BanditMachine::DecideNode::DoStart(), BanditMachine::PressNode::DoStart(), and BanditMachine::DoStart().

void StateNode::DoStop ( ) [virtual]

Transitions should call this when you are leaving the state, so it can disable its transitions.

Reimplemented from BehaviorBase.
Reimplemented in BanditMachine, BanditMachine::PressNode, BanditMachine::WaitNode, ExploreMachine, WalkToTargetMachine, PlayMotionSequenceNode< SIZE >, and WalkNode.
Definition at line 34 of file StateNode.cc.
Referenced by OutputNode::DoStart(), BanditMachine::DecideNode::DoStart(), WalkToTargetMachine::DoStop(), WalkNode::DoStop(), PlayMotionSequenceNode< SIZE >::DoStop(), ExploreMachine::DoStop(), BanditMachine::WaitNode::DoStop(), BanditMachine::PressNode::DoStop(), and BanditMachine::DoStop().

virtual std::string StateNode::getDescription ( ) const [inline, virtual]

returns name again (you should override this for top-level nodes to give users better descriptions)

Reimplemented from BehaviorBase.
Definition at line 59 of file StateNode.h.

virtual std::string StateNode::getName ( ) const [inline, virtual]

returns name of StateNode

Implements BehaviorBase.
Definition at line 56 of file StateNode.h.
Referenced by DoStart(), DoStop(), PaceTargetsMachine::setup(), and ExploreMachine::setup().

std::vector<StateNode*>& StateNode::getNodes ( ) [inline]

Returns the std::vector of nodes so you can modify them yourself if need be.

Definition at line 35 of file StateNode.h.

std::vector<Transition*>& StateNode::getTransitions ( ) [inline]

Returns the std::vector of transitions so you can modify them yourself if need be.

Definition at line 29 of file StateNode.h.

StateNode StateNode::operator= ( const StateNode & node ) [private]

don't call this

void StateNode::setName ( const std::string & n )

set name to n. Makes a copy of n, so you can throw it away later.

Definition at line 54 of file StateNode.cc.
Referenced by PaceTargetsMachine::setup(), ExploreMachine::setup(), and StateNode().

void StateNode::setRetain ( bool f ) [inline]

Sets the retain flag - if not retained, will RemoveReference() subnodes upon DoStop() and recreate them on DoStart (by calling setup()) - may be too expensive to be worth saving memory...

Definition at line 38 of file StateNode.h.
Referenced by ExploreMachine::ExploreMachine(), and WalkNode::WalkNode().

virtual void StateNode::setup ( ) [inline, virtual]

This is called by DoStart() when you should setup the network of subnodes.

Reimplemented in BanditMachine, ExploreMachine, PaceTargetsMachine, WalkToTargetMachine, and PlayMotionSequenceNode< SIZE >.
Definition at line 44 of file StateNode.h.
Referenced by DoStart(), WalkToTargetMachine::setup(), PaceTargetsMachine::setup(), ExploreMachine::setup(), and BanditMachine::setup().

virtual void StateNode::teardown ( ) [inline, virtual]

This is called by DoStop() when you should destruct subnodes.

Reimplemented in ExploreMachine, PaceTargetsMachine, WalkToTargetMachine, PlayMotionSequenceNode< SIZE >, and WalkNode.
Definition at line 50 of file StateNode.h.
Referenced by DoStop(), and ExploreMachine::teardown().

void StateNode::transitionFrom ( StateNode * n ) [protected, virtual]

called by a subnode when it is being DoStop()'ed

Definition at line 62 of file StateNode.cc.

void StateNode::transitionTo ( StateNode * n ) [protected, virtual]

called by a subnode when it is being DoStart()'ed

Definition at line 58 of file StateNode.cc.
Referenced by DoStart().

Member Data Documentation

bool StateNode::issetup [protected]

this is set to true if the network has been setup but not destroyed (i.e. don't need to call setupSubNodes again)

Definition at line 76 of file StateNode.h.
Referenced by DoStart(), DoStop(), setup(), StateNode(), teardown(), and ~StateNode().

std::string StateNode::name [protected]

holds the name of the Node/Machine

Definition at line 84 of file StateNode.h.
Referenced by getDescription(), getName(), setName(), and StateNode().

std::vector<StateNode*> StateNode::nodes [protected]

vector of StateNodes, just so they can be dereferenced again on DoStop() (unless retained) or ~StateNode()

Definition at line 80 of file StateNode.h.
Referenced by addNode(), DoStop(), getNodes(), StateNode(), and ~StateNode().

StateNode* StateNode::parent [protected]

pointer to the machine that contains this node

Definition at line 70 of file StateNode.h.
Referenced by DoStart(), and StateNode().

bool StateNode::retain [protected]

this is set to true if the network should be retained between activations. Otherwise it's dereferenced upon DoStop(). (or at least RemoveReference() is called on subnodes)

Definition at line 78 of file StateNode.h.
Referenced by DoStop(), setRetain(), and StateNode().

std::vector<Transition*> StateNode::transitions [protected]

a vector of outgoing transitions

Definition at line 72 of file StateNode.h.
Referenced by addTransition(), DoStart(), DoStop(), getTransitions(), StateNode(), and ~StateNode().

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

Tekkotsu v2.1

Generated Tue Mar 16 23:22:28 2004 by Doxygen 1.3.5