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 DoStart() / DoStop() as you would a normal BehaviorBase subclass to have this node add some functionality of its own.
Override setup() to build your own Transition and StateNode network if you want this node to contain a state machine.
You can override setup to create a sub-network, as well as overriding DoStart and DoStop, in the same class.
There are two StateNode templates in project/templates/:
- statenode.h is intended for leaf nodes, which directly implement the execution of a task.
- statemachine.h is intended for nodes which contain a network of transitions and subnodes, which together solve the task.
Definition at line 26 of file StateNode.h.
Public Member Functions | |
| StateNode (const std::string &name) | |
| constructor, pass a name to use | |
| virtual | ~StateNode () |
| destructor, removes references to its outgoing transitions (be careful of incoming ones - they're still around!), and calls RemoveReference() on subnodes | |
| virtual Transition * | 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. | |
| const std::vector< Transition * > & | getTransitions () const |
| Returns the const std::vector of transitions so you can read through them 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. Also sets the node's parent to this if it is null. | |
| std::vector< StateNode * > & | getNodes () |
| Returns the std::vector of sub-nodes so you can modify them yourself if need be. | |
| const std::vector< StateNode * > & | getNodes () const |
| Returns the const std::vector of sub-nodes so you can read through them 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 (if any). | |
| 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. | |
| virtual StateNode * | getParent () const |
| returns parent | |
Protected Member Functions | |
| StateNode (const std::string &classname, const std::string &name) | |
| constructor, pass the class name and instance name to use | |
| virtual void | postStartEvent () |
| will throw an activation event through stateMachineEGID, used when DoStart() is called | |
| virtual void | postCompletionEvent (float magnitude=0) |
| will throw a status event through stateMachineEGID to signal "completion" of the node | |
| virtual void | postStopEvent () |
| will throw an deactivation event through stateMachineEGID, used when DoStop() is called | |
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) | |
| unsigned int | startedTime |
| the timestamp of last call to DoStart() | |
| std::vector< StateNode * > | nodes |
| vector of StateNodes, just so they can be dereferenced again on DoStop() (unless retained) or ~StateNode() | |
Private Member Functions | |
| StateNode (const StateNode &node) | |
| don't call this | |
| StateNode | operator= (const StateNode &node) |
| don't call this | |
Member Function Documentation
| void StateNode::postCompletionEvent | ( | float | magnitude = 0 |
) | [protected, virtual] |
will throw a status event through stateMachineEGID to signal "completion" of the node
"completion" is defined by your subclass - will mean different things to different nodes depending on the actions they are performing. So call this yourself if there is a natural ending point for your state.
- Parameters:
-
magnitude the value to use for EventBase::magnitude -- generally is 1 for status events, but since this is to signal completion, 0 (the default) may be more appropriate; if your node is doing something repetitive however, 1 (or the loop count) may be better
Definition at line 85 of file StateNode.cc.
Referenced by WaypointEngineNode< W, mcName, mcDesc >::processEvent(), SoundNode::processEvent(), MotionSequenceNode< SIZE >::processEvent(), and MCNodeBase::processEvent().
| void StateNode::teardown | ( | ) | [virtual] |
This is called by DoStop() when you should destruct subnodes.
Default implementation will take care of the subnodes and their transitions, you only need to worry about any *other* memory which may have been allocated. If none, you may not need implement this function at all.
Reimplemented in MotionSequenceNode< SIZE >.
Definition at line 73 of file StateNode.cc.
Referenced by DoStop(), MotionSequenceNode< SIZE >::teardown(), and ~StateNode().
The documentation for this class was generated from the following files:
