Implements a single behaviour layer. More...

#include <behaviour_layer.h>

Inherited by behaviourcontroltest::MyL1, behaviourcontroltest::MyL2, and behaviourcontroltest::RosIL.

Classes
struct	BBasePair
	Data structure used to represent a basic inhibition pair, where behaviour A is taken to inhibit behaviour B. More...

Public Member Functions
	BehaviourLayer (BehaviourManager *MBase, const std::string &name=nullString, bool isInterface=false)
	Default constructor. More...

virtual	~BehaviourLayer ()
	Behaviour layer object destructor.

SensorManager *	getSMBase ()
	Get function for a pointer to the base class of the child sensor manager.

ActuatorManager *	getAMBase ()
	Get function for a pointer to the base class of the child actuator manager.

bool	hasSM () const
	Boolean flag specifying whether this layer has a sensor manager.

bool	hasAM () const
	Boolean flag specifying whether this layer has an actuator manager.

std::string	getUniqueName (const BehaviourManager *MBase) const
	Returns a unique behaviour layer name. More...

BehaviourLayer *	getBasePtr ()
	Return a pointer to the underlying BehaviourLayer class object in the case of a derived behaviour layer class.

Public Attributes
BehaviourManager *const	MBase
	Pointer to the parent behaviour manager.

const std::string	Mname
	Human-friendly string name of the parent behaviour manager.

const std::string	name
	Human-friendly string name of the behaviour layer.

const bool	isInterface
	A boolean flag specifying whether the layer is an interface layer or a normal behaviour layer.

Static Public Attributes
static const index_t	DEF_BLIST_CAPACITY = 16
	Default capacity of the list that stores the child behaviours of the layer.

static const index_t	DEF_ILIST_CAPACITY = 32
	Default capacity of the lists that are used to store the chaining and non-chaining inhibition definitions.

static const std::string	DEF_LAYER_NAME = "BehaviourLayer"
	Default behaviour layer name used to generate a unique one, in the case that no name is provided by a derived behaviour layer class.

Protected Member Functions
void	addInhibition (Behaviour BBaseA, Behaviour BBaseB)
	Adds a non-chaining inhibition from behaviour `BBaseA` (inhibitor) to behaviour `BBaseB` (inhibitee). More...

void	addChainInhibition (Behaviour BBaseA, Behaviour BBaseB)
	Adds a chaining inhibition from behaviour `BBaseA` (inhibitor) to behaviour `BBaseB` (inhibitee). More...

virtual ret_t	init ()
	Initialisation callback for the behaviour layer. This function is called from `initAll()`, and is intended to be overridden for the purpose of initialising the derived behaviour layer object.

virtual void	update ()
	Update callback for the behaviour layer object. This function is called from `updateAll()`, which is used in `step()`.

virtual void	postExecuteCallback ()
	Callback that is invoked at the end of the `executeAll()` function so that the user can inject code.

Friends
class	BehaviourManager

class	SensorManager

class	ActuatorManager

class	Behaviour

Detailed Description

Implements a single behaviour layer.

This class is the base class of all behavioural layers that are used in an architecture.

Constructor & Destructor Documentation

BehaviourLayer::BehaviourLayer	(	BehaviourManager *	MBase,
		const std::string &	name = `nullString`,
		bool	isInterface = `false`
	)

explicit

Default constructor.

Note that although the default value for the name parameter is nullString, this will not actually become the behaviour layer's name if the parameter is omitted. This is just used to signal to the class's internals that it should generate a default name using the getUniqueName() function. MBase must never be null or a segmentation fault will result!

Parameters

MBase	A pointer to the behaviour manager that the behaviour layer belongs to.
name	The human-friendly name to give the behaviour layer (null means auto-generate).
isInterface	A boolean flag specifying whether the layer is an interface layer. This changes what you are allowed to do with the class in some situations, and ensures that the execution order is right for an external interface.

Member Function Documentation

void BehaviourLayer::addChainInhibition	(	Behaviour *	BBaseA,
		Behaviour *	BBaseB
	)

protected

Adds a chaining inhibition from behaviour BBaseA (inhibitor) to behaviour BBaseB (inhibitee).

Add a chaining (transitive) inhibition from behaviour A to behaviour B. Neither behaviour pointer should be null, the behaviours pointers can't be equal, and both behaviours should belong to the behaviour layer for which this function is called. This function can only be used in the constructor of the derived layer class.

Parameters

BBaseA	A non-null pointer to the behaviour that is inhibiting.
BBaseB	A non-null pointer to the behaviour that is being inhibited.

void BehaviourLayer::addInhibition	(	Behaviour *	BBaseA,
		Behaviour *	BBaseB
	)

protected

Adds a non-chaining inhibition from behaviour BBaseA (inhibitor) to behaviour BBaseB (inhibitee).

Add a non-chaining (non-transitive) inhibition from behaviour A to behaviour B. Neither behaviour pointer should be null, the behaviours pointers can't be equal, and both behaviours should belong to the behaviour layer for which this function is called. This function can only be used in the constructor of the derived layer class.

Parameters

BBaseA	A non-null pointer to the behaviour that is inhibiting.
BBaseB	A non-null pointer to the behaviour that is being inhibited.

std::string BehaviourLayer::getUniqueName ( const BehaviourManager * MBase ) const

Returns a unique behaviour layer name.

Automatically construct a unique name for the behaviour layer, for situations where none is provided by the derived class. The name that results of this function will be unique as long as the user does not explicitly use the same name somewhere else, either before or after the construction of this layer. If there are currently two layers in the MBase manager, the generated name will be the concatenation of DEF_LAYER_NAME and "2".

Parameters

MBase A non-null pointer to the parent behaviour manager.

Returns: The required layer name.

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

/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/behaviour/behaviour_control/include/behaviour_control/classes/behaviour_layer.h
/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/behaviour/behaviour_control/include/behaviour_control/classes/behaviour_template_defns.h
/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/behaviour/behaviour_control/src/behaviour_layer.cpp

Classes

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation