roboligo::ConnectorBase Class Reference

Base class for connector plugins that manage robot state transitions. More...

#include <ConnectorBase.hpp>

Inheritance diagram for roboligo::ConnectorBase:

Collaboration diagram for roboligo::ConnectorBase:

Public Member Functions
	ConnectorBase ()=default
	Default constructor.
virtual bool	exit (RobotState &robot_state)
	Exit and cleanup robot state.
virtual void	initialize (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > parent_node, const std::string &plugin_name)
	Initialize the connector with a lifecycle node.
virtual bool	set (RobotState &robot_state)
	Set initial robot state.
virtual bool	update (RobotState &robot_state)
	Update robot state.
virtual	~ConnectorBase ()=default
	Virtual destructor.
Public Member Functions inherited from roboligo::PluginBase
std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node () const
	Retrieves the parent lifecycle node.
const std::string &	get_plugin_name () const
	Retrieves the plugin name.
virtual void	on_initialize ()
	Called during plugin initialization. Override in derived classes for custom setup.
	PluginBase ()=default
	Default constructor.
virtual	~PluginBase ()=default
	Virtual destructor for proper cleanup of derived classes.

Protected Member Functions
virtual void	on_exit (RobotState &robot_state)
	Hook called during exit operation.
virtual void	on_set (RobotState &robot_state)
	Hook called during set operation.
virtual void	on_update (RobotState &robot_state)
	Hook called during update operation.

Detailed Description

Base class for connector plugins that manage robot state transitions.

ConnectorBase provides a plugin interface for handling robot state initialization, updates, and cleanup. Derived classes should override the virtual methods to implement specific connector behavior.

Constructor & Destructor Documentation

ConnectorBase()

roboligo::ConnectorBase::ConnectorBase ( )

default

Default constructor.

~ConnectorBase()

virtual roboligo::ConnectorBase::~ConnectorBase ( )

virtualdefault

Virtual destructor.

Member Function Documentation

exit()

bool roboligo::ConnectorBase::exit ( RobotState & robot_state )

virtual

Exit and cleanup robot state.

Called during shutdown to finalize the robot state.

Parameters

robot_state

Reference to the robot state to finalize.

Returns

true if exit operation succeeded, false otherwise.

initialize()

void roboligo::ConnectorBase::initialize ( const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > parent_node, const std::string & plugin_name )

virtual

Initialize the connector with a lifecycle node.

Parameters

parent_node	Shared pointer to the lifecycle node that owns this plugin.
plugin_name	Name identifier for this connector plugin.

Reimplemented from roboligo::PluginBase.

on_exit()

virtual void roboligo::ConnectorBase::on_exit ( RobotState & robot_state )

inlineprotectedvirtual

Hook called during exit operation.

Override this method to implement custom cleanup behavior.

Parameters

robot_state

Reference to the robot state.

on_set()

virtual void roboligo::ConnectorBase::on_set ( RobotState & robot_state )

inlineprotectedvirtual

Hook called during set operation.

Override this method to implement custom set behavior.

Parameters

robot_state

Reference to the robot state.

on_update()

virtual void roboligo::ConnectorBase::on_update ( RobotState & robot_state )

inlineprotectedvirtual

Hook called during update operation.

Override this method to implement custom update behavior.

Parameters

robot_state

Reference to the robot state.

set()

bool roboligo::ConnectorBase::set ( RobotState & robot_state )

virtual

Set initial robot state.

Called during the configuration phase to establish the initial robot state.

Parameters

robot_state

Reference to the robot state to configure.

Returns

true if set operation succeeded, false otherwise.

update()

bool roboligo::ConnectorBase::update ( RobotState & robot_state )

virtual

Update robot state.

Called during the active phase to update the robot state.

Parameters

robot_state

Reference to the robot state to update.

Returns

true if update operation succeeded, false otherwise.

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

• roboligo_common/include/roboligo_common/connector/ConnectorBase.hpp
• roboligo_common/src/roboligo_common/connector/ConnectorBase.cpp