Task< T > Class Template Reference

Template based implementation of Task. More...

#include <Task.hpp>

Inherits GenericTask< Task< T >, Target< T >, Motion< T > >.

Public Types
typedef rw::core::Ptr< Task< T > >	Ptr
	smart pointer type to this class
typedef int	INT
Public Types inherited from GenericTask< Task< T >, Target< T >, Motion< T > >
typedef rw::core::Ptr< Task< T > >	TaskPtr
typedef rw::core::Ptr< Target< T > >	TargetPtr
typedef rw::core::Ptr< Motion< T > >	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
	Task (const std::string &id="")
	Constructs Task. More...
virtual	~Task ()
	Destructor.
Target< T >::Ptr	addTargetByValue (const T &value)
	Adds target to task based on value. More...
Target< T >::Ptr	addTargetByValueToFront (const T &value)
void	addToPath (typename Task< T >::Ptr task, std::vector< T > &result)
	Adds values of targets in the task to result. More...
void	addToTargetPath (typename Task< T >::Ptr task, std::vector< typename Target< T >::Ptr > &result)
std::vector< T >	getPath ()
	Returns a vector with template type T, describing the target values visited when executing the task. More...
std::vector< typename Target< T >::Ptr >	getTargetPath ()
virtual Task< T >::Ptr	clone ()
Public Member Functions inherited from GenericTask< Task< T >, Target< T >, Motion< T > >
	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 Member Functions
virtual TaskBase::Ptr	doClone ()
Protected Member Functions inherited from TaskBase
void	doReverseBase ()
void	copyBase (TaskBase::Ptr target)
bool	removeEntity (Entity::Ptr entity)

Additional Inherited Members
Protected Attributes inherited from GenericTask< Task< T >, Target< T >, Motion< T > >
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.

Detailed Description

template<class T>
class rwlibs::task::Task< T >

Template based implementation of Task.

Constructor & Destructor Documentation

Task()

Task ( const std::string &  id = "" )

inline

Constructs Task.

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

Member Function Documentation

addTargetByValue()

Target<T>::Ptr addTargetByValue ( const T &  value )

inline

Adds target to task based on value.

Parameters

value

[in] Value of the target.

Returns

Pointer to the target object constructed and added.

addToPath()

void addToPath ( typename Task< T >::Ptr  task, std::vector< T > &  result  )

inline

Adds values of targets in the task to result.

Utility function which can be used to construct a list of via points from a task.

See also Task::getPath() below.

Parameters

task	[in] Task to run through
result	[in] Vector into which targets pointer should be placed

getPath()

std::vector<T> getPath ( )

inline

Returns a vector with template type T, describing the target values visited when executing the task.

This function can be used to make a simple path from a task.

Returns

Vector with target values visited.

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

• AssemblyResult.hpp
• Task.hpp