Implements a template based and generic version of a task. More...

#include <Task.hpp>

Public Types
typedef rw::core::Ptr< TASK >	TaskPtr

typedef rw::core::Ptr< TARGET >	TargetPtr

typedef rw::core::Ptr< MOTION >	MotionPtr

Public Types inherited from TaskBase
typedef rw::core::Ptr< TaskBase >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< Action >	ActionPtr

Public Types inherited from Entity
typedef rw::core::Ptr< Entity >	Ptr
	smart pointer type to this class

Public Member Functions
	GenericTask (Type type=-1, const std::string &id="")
	Constrcts Task. More...

virtual	~GenericTask ()
	Destructor.

void	addTarget (TargetPtr target)
	Adds target to the task. More...

void	addTargetToFront (TargetPtr target)

bool	removeTarget (TargetPtr target)
	Removes a specific target.

std::vector< TargetPtr > &	getTargets ()
	Returns list of targets. More...

const std::vector< TargetPtr > &	getTargets () const
	Returns list of targets. More...

void	addMotion (MotionPtr motion)
	Adds motion to the task. More...

void	addMotionToFront (MotionPtr motion)
	Adds motion to the front of the task. More...

bool	removeMotion (MotionPtr motion)
	Removes a specific motion.

std::vector< MotionPtr > &	getMotions ()
	Returns list of motions. More...

const std::vector< MotionPtr > &	getMotions () const
	Returns list of motions. More...

void	addTask (TaskPtr task)
	Adds task as a subtask. More...

void	addTaskToFront (TaskPtr task)

std::vector< TaskPtr > &	getTasks ()
	Returns list of tasks. More...

const std::vector< TaskPtr > &	getTasks () const
	Returns list of tasks. More...

void	reverse ()
	Reverse the order of the task.

Public Member Functions inherited from TaskBase
	TaskBase (Type type, const std::string &id="")
	Constructs a task with a given type. More...

virtual	~TaskBase ()
	Destructor.

Type	type () const
	Returns the type of the task.

void	addAugmentation (TaskBase::Ptr task, const std::string &id)
	Add an augmentation of the task. More...

bool	hasAugmentation (const std::string &id)
	Returns whether the task has an augmentation with a given id. More...

TaskBase::Ptr	getAugmentation (const std::string &id)
	Returns augmentation associated to id. More...

std::map< std::string, TaskBase::Ptr > &	getAugmentations ()
	Returns map with ids and augmentations. More...

const std::map< std::string, TaskBase::Ptr > &	getAugmentations () const
	Returns map with ids and augmentations. More...

void	addEntity (rw::core::Ptr< Entity > entity)
	Adds entity to the task. More...

void	addEntityToFront (rw::core::Ptr< Entity > entity)

std::vector< rw::core::Ptr< Entity > > &	getEntities ()
	Returns list of entities. More...

const std::vector< rw::core::Ptr< Entity > > &	getEntities () const
	Returns list of entities. More...

void	addAction (ActionPtr action)
	Adds action to the task. More...

void	addActionToFront (ActionPtr action)

std::vector< ActionPtr > &	getActions ()
	Returns list of actions. More...

const std::vector< ActionPtr > &	getActions () const
	Returns list of actions. More...

void	setDeviceName (const std::string &name)
	Sets name of device associated to the task. More...

const std::string &	getDeviceName () const
	Returns name of device associated to the task. More...

bool	removeAction (Action::Ptr action)
	Removes a specific action.

Public Member Functions inherited from Entity
	Entity (EntityType type, const std::string &id="")
	Constructs an Entity with a given type,. More...

virtual	~Entity ()
	Destructor.

rw::core::PropertyMap &	getPropertyMap ()
	Returns reference to rw::core::PropertyMap associated with the Entity. More...

const rw::core::PropertyMap &	getPropertyMap () const
	Returns reference to rw::core::PropertyMap associated with the Entity. More...

void	setPropertyMap (const rw::core::PropertyMap &propertymap)
	Sets the content of the propertymap. More...

int	getIndex () const
	Returns index specifying the position of the Entity in a Task. More...

void	setIndex (int index)
	Sets the order index of the Entity. More...

virtual EntityType	entityType () const
	Returns the type of Entity. More...

void	setId (const std::string &id)
	Set the id for the entity. More...

const std::string &	getId () const
	Get the id of the entity. More...

template<class T >
T	cast ()
	Method which can be used to explicitly and safely casting an Entity. More...

Protected Attributes
std::vector< TargetPtr >	_targets

std::vector< MotionPtr >	_motions

std::vector< TaskPtr >	_tasks

Protected Attributes inherited from TaskBase
Type	_type

std::map< std::string, TaskBase::Ptr >	_augmentations

std::vector< ActionPtr >	_actions

std::vector< rw::core::Ptr< Entity > >	_entities

std::string	_deviceName

Protected Attributes inherited from Entity
rw::core::PropertyMap	_properties
	Properties of entity.

EntityType	_entityType
	The type of entity.

int	_index
	The index of the entity.

std::string	_id
	The id of the entity.

Additional Inherited Members
Protected Member Functions inherited from TaskBase
void	doReverseBase ()

void	copyBase (TaskBase::Ptr target)

virtual TaskBase::Ptr	doClone ()

bool	removeEntity (Entity::Ptr entity)

Detailed Description

template<class TASK, class TARGET, class MOTION>
class rwlibs::task::GenericTask< TASK, TARGET, MOTION >

Implements a template based and generic version of a task.

The template arguments TASK, TARGET and MOTION represents specifies which kind of task, target and motion to use.

Member Typedef Documentation

◆ MotionPtr

typedef rw::core::Ptr<MOTION> MotionPtr

Convenience definition of pointer to motion

◆ TargetPtr

typedef rw::core::Ptr<TARGET> TargetPtr

Convenience definition of pointer to target

◆ TaskPtr

typedef rw::core::Ptr<TASK> TaskPtr

Convenience definition of pointer to task

Constructor & Destructor Documentation

◆ GenericTask()

GenericTask	(	Type	type = `-1`,
		const std::string &	id = `""`
	)

inline

Constrcts Task.

When constructing a task the type T is automatically added to the TypeRepository and the the associated value is set as the type.

Member Function Documentation

◆ addMotion()

void addMotion ( MotionPtr motion )

inline

Adds motion to the task.

Parameters

motion [in] Motion to add

◆ addMotionToFront()

void addMotionToFront ( MotionPtr motion )

inline

Adds motion to the front of the task.

Parameters

motion [in] Motion to add

◆ addTarget()

void addTarget ( TargetPtr target )

inline

Adds target to the task.

Parameters

target [in] Target to add

◆ addTask()

void addTask ( TaskPtr task )

inline

Adds task as a subtask.

Parameters

task	[in] Task to add

◆ getMotions() [1/2]

std::vector<MotionPtr>& getMotions ( )

inline

Returns list of motions.

Returns: Reference to list of motions

◆ getMotions() [2/2]

const std::vector<MotionPtr>& getMotions ( ) const

inline

Returns list of motions.

Returns: Reference to list of motions

◆ getTargets() [1/2]

std::vector<TargetPtr>& getTargets ( )

inline

Returns list of targets.

Returns: Reference to list of targets

◆ getTargets() [2/2]

const std::vector<TargetPtr>& getTargets ( ) const

inline

Returns list of targets.

Returns: Reference to list of targets

◆ getTasks() [1/2]

std::vector<TaskPtr>& getTasks ( )

inline

Returns list of tasks.

Returns: Reference to list of tasks

◆ getTasks() [2/2]

const std::vector<TaskPtr>& getTasks ( ) const

inline

Returns list of tasks.

Returns: Reference to list of tasks

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

Task.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class TASK, class TARGET, class MOTION> class rwlibs::task::GenericTask< TASK, TARGET, MOTION >

Member Typedef Documentation

◆ MotionPtr

◆ TargetPtr

◆ TaskPtr

Constructor & Destructor Documentation

◆ GenericTask()

Member Function Documentation

◆ addMotion()

◆ addMotionToFront()

◆ addTarget()

◆ addTask()

◆ getMotions() [1/2]

◆ getMotions() [2/2]

◆ getTargets() [1/2]

◆ getTargets() [2/2]

◆ getTasks() [1/2]

◆ getTasks() [2/2]

template<class TASK, class TARGET, class MOTION>
class rwlibs::task::GenericTask< TASK, TARGET, MOTION >