roboligo::RobotState Class Reference

Represents the state and configuration of a robot. More...

#include <RobotState.hpp>

Collaboration diagram for roboligo::RobotState:

Public Member Functions
Mode *	get_mode (const std::string &mode_name)
	Retrieves a mode by name.
std::vector< Mode >	get_modes (void)
	Gets all available modes.
std::string	get_name (void)
	Gets the robot name.
Trigger *	get_trigger (const std::string &trigger_name)
	Retrieves a trigger by name.
std::vector< Trigger >	get_triggers (void)
	Gets all available triggers.
bool	is_available (void)
	Checks if the robot is available.
bool	is_simulation (void)
	Checks if the robot is in simulation mode.
bool	is_stamped (void)
	Checks if the robot uses time stamping.
	RobotState ()=default
	Default constructor.
void	set_available (bool new_state)
	Sets the robot availability status.
void	set_modes (std::vector< Mode > modes)
	Sets the available operational modes.
void	set_name (std::string new_name)
	Sets the robot name.
void	set_simulation (bool new_state)
	Sets the simulation mode status.
void	set_stamp (bool new_state)
	Enables or disables time stamping.
void	set_triggers (std::vector< Trigger > triggers)
	Sets the available triggers.
void	show (void)
	Displays complete robot state information.
std::string	show_modes (void)
	Returns a string representation of all modes.
std::string	show_triggers (void)
	Returns a string representation of all triggers.
virtual	~RobotState ()=default
	Virtual destructor.

Public Attributes
std::shared_ptr< roboligo::Battery >	battery
	Battery status monitor component.
std::shared_ptr< roboligo::NavSat >	gps
	Global Navigation Satellite System (GPS) sensor.
std::shared_ptr< roboligo::Imu >	imu
	Inertial Measurement Unit sensor component.
std::shared_ptr< roboligo::Input >	input
	Input sensor component.
std::shared_ptr< roboligo::Odom >	odom
	Odometry sensor component.
std::shared_ptr< roboligo::Output >	output
	Output actuator component.
std::shared_ptr< roboligo::Output >	position_target
	Position target output component.

Detailed Description

Represents the state and configuration of a robot.

This class manages robot properties including name, operational modes, triggers, and various sensor/actuator components. It tracks availability, simulation status, and time-stamping capabilities.

Constructor & Destructor Documentation

RobotState()

roboligo::RobotState::RobotState ( )

default

Default constructor.

~RobotState()

virtual roboligo::RobotState::~RobotState ( )

virtualdefault

Virtual destructor.

Member Function Documentation

get_mode()

Mode * roboligo::RobotState::get_mode

(

const std::string &

mode_name

)

Retrieves a mode by name.

Parameters

mode_name

The name of the mode to find.

Returns

Pointer to the Mode object, or nullptr if not found.

get_modes()

std::vector< Mode > roboligo::RobotState::get_modes

(

void

)

Gets all available modes.

Returns

Vector of Mode objects.

get_name()

std::string roboligo::RobotState::get_name

(

void

)

Gets the robot name.

Returns

The robot's name as a string.

get_trigger()

Trigger * roboligo::RobotState::get_trigger

(

const std::string &

trigger_name

)

Retrieves a trigger by name.

Parameters

trigger_name

The name of the trigger to find.

Returns

Pointer to the Trigger object, or nullptr if not found.

get_triggers()

std::vector< Trigger > roboligo::RobotState::get_triggers

(

void

)

Gets all available triggers.

Returns

Vector of Trigger objects.

is_available()

bool roboligo::RobotState::is_available

(

void

)

Checks if the robot is available.

Returns

true if available, false otherwise.

is_simulation()

bool roboligo::RobotState::is_simulation

(

void

)

Checks if the robot is in simulation mode.

Returns

true if in simulation, false otherwise.

is_stamped()

bool roboligo::RobotState::is_stamped

(

void

)

Checks if the robot uses time stamping.

Returns

true if stamped, false otherwise.

set_available()

void roboligo::RobotState::set_available

(

bool

new_state

)

Sets the robot availability status.

Parameters

new_state

true to mark as available, false otherwise.

set_modes()

void roboligo::RobotState::set_modes

(

std::vector< Mode >

modes

)

Sets the available operational modes.

Parameters

modes

Vector of Mode objects.

set_name()

void roboligo::RobotState::set_name

(

std::string

new_name

)

Sets the robot name.

Parameters

new_name

The new name to assign.

set_simulation()

void roboligo::RobotState::set_simulation

(

bool

new_state

)

Sets the simulation mode status.

Parameters

new_state

true to enable simulation mode.

set_stamp()

void roboligo::RobotState::set_stamp

(

bool

new_state

)

Enables or disables time stamping.

Parameters

new_state

true to enable stamping.

set_triggers()

void roboligo::RobotState::set_triggers

(

std::vector< Trigger >

triggers

)

Sets the available triggers.

Parameters

triggers

Vector of Trigger objects.

show()

void roboligo::RobotState::show

(

void

)

Displays complete robot state information.

show_modes()

std::string roboligo::RobotState::show_modes

(

void

)

Returns a string representation of all modes.

Returns

Formatted string containing mode information.

show_triggers()

std::string roboligo::RobotState::show_triggers

(

void

)

Returns a string representation of all triggers.

Returns

Formatted string containing trigger information.

Member Data Documentation

battery

std::shared_ptr<roboligo::Battery> roboligo::RobotState::battery

Initial value:

                    = std::make_shared<roboligo::Battery>( 
"battery", "battery_topic")

Battery status monitor component.

gps

std::shared_ptr<roboligo::NavSat> roboligo::RobotState::gps

Initial value:

                = std::make_shared<roboligo::NavSat>( 
"gps", "gps_topic")

Global Navigation Satellite System (GPS) sensor.

imu

std::shared_ptr<roboligo::Imu> roboligo::RobotState::imu

Initial value:

                = std::make_shared<roboligo::Imu>( 
"imu", "imu_topic")

Inertial Measurement Unit sensor component.

input

std::shared_ptr<roboligo::Input> roboligo::RobotState::input

Initial value:

                  = std::make_shared<roboligo::Input>( 
"input", "input_topic")

Input sensor component.

odom

std::shared_ptr<roboligo::Odom> roboligo::RobotState::odom

Initial value:

                 = std::make_shared<roboligo::Odom>( 
"odom", "odom_topic")

Odometry sensor component.

output

std::shared_ptr<roboligo::Output> roboligo::RobotState::output

Initial value:

                   = std::make_shared<roboligo::Output>( 
"output", "output_topic")

Output actuator component.

position_target

std::shared_ptr<roboligo::Output> roboligo::RobotState::position_target

Initial value:

                            = std::make_shared<roboligo::Output>( 
"position_target", "output_topic")

Position target output component.

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

• roboligo_common/include/roboligo_common/types/RobotState.hpp
• roboligo_common/src/roboligo_common/types/RobotState.cpp