TaskBase Class Reference

Base class for tasks. More...

#include <Task.hpp>

Inherits Entity.

Inherited by GenericTask< Task< T >, Target< T >, Motion< T > >, and GenericTask< TASK, TARGET, MOTION >.

Public Types
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
	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.
virtual void	reverse ()=0
	Reverse the order of the task.
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
void	doReverseBase ()
void	copyBase (TaskBase::Ptr target)
virtual TaskBase::Ptr	doClone ()
bool	removeEntity (Entity::Ptr entity)

Protected Attributes
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

Base class for tasks.

Member Typedef Documentation

ActionPtr

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

Convenience definition of pointer to Action

Constructor & Destructor Documentation

TaskBase()

TaskBase ( Type  type, const std::string &  id = ""  )

inline

Constructs a task with a given type.

Parameters

type	[in] Type of task
id	[in] optional identifier

Member Function Documentation

addAction()

void addAction ( ActionPtr  action )

inline

Adds action to the task.

Parameters

action

[in] Action to add

addAugmentation()

void addAugmentation ( TaskBase::Ptr  task, const std::string &  id  )

inline

Add an augmentation of the task.

Parameters

task	[in] Task representing the augmentation
id	[in] Id associated to augmentation

addEntity()

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

inline

Adds entity to the task.

When adding an entity is is assigned an orderIndex specifying when it is added. This index can later be used to find the relative order between motions, actions and subtasks.

Parameters

entity

[in] Entity to add

getActions() [1/2]

std::vector<ActionPtr>& getActions ( )

inline

Returns list of actions.

Returns

Reference to list of actions

getActions() [2/2]

const std::vector<ActionPtr>& getActions ( ) const

inline

Returns list of actions.

Returns

Reference to list of actions

getAugmentation()

TaskBase::Ptr getAugmentation ( const std::string &  id )

inline

Returns augmentation associated to id.

If no augmentation exists the method throws a rw::core::Exception

Parameters

id	[in] id of task

Returns

Pointer to the augmenting task

getAugmentations() [1/2]

std::map<std::string, TaskBase::Ptr>& getAugmentations ( )

inline

Returns map with ids and augmentations.

Returns

Reference to map with ids and augmentations

getAugmentations() [2/2]

const std::map<std::string, TaskBase::Ptr>& getAugmentations ( ) const

inline

Returns map with ids and augmentations.

Returns

Reference to map with ids and augmentations

getDeviceName()

const std::string& getDeviceName ( ) const

inline

Returns name of device associated to the task.

Returns

Name of the device

getEntities() [1/2]

std::vector<rw::core::Ptr<Entity> >& getEntities ( )

inline

Returns list of entities.

The order of the entities corresponds to the expected order of execution.

Returns

Reference to list of entities

getEntities() [2/2]

const std::vector<rw::core::Ptr<Entity> >& getEntities ( ) const

inline

Returns list of entities.

The order of the entities corresponds to the expected order of execution.

Returns

Reference to list of entities

hasAugmentation()

bool hasAugmentation ( const std::string &  id )

inline

Returns whether the task has an augmentation with a given id.

Parameters

id	[in] id of augmentation to look for

Returns

True if augmentation exists. False otherwise

setDeviceName()

void setDeviceName ( const std::string &  name )

inline

Sets name of device associated to the task.

Parameters

name	[in] Device name

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

• Task.hpp