Autonomy_Software/VerifyingMarkerState_8h_source.html

#ifndef VERIFYING_MARKER_STATE_H

#define VERIFYING_MARKER_STATE_H


#include "../interfaces/State.hpp"

#include "../util/GeospatialOperations.hpp"

#include "../vision/aruco/TagDetector.h"


namespace statemachine

{


    class VerifyingMarkerState : public State

    {

        private:

            bool m_bInitialized;

            geoops::Waypoint m_stGoalWaypoint;

            std::vector<std::shared_ptr<TagDetector>> m_vTagDetectors;

            std::chrono::system_clock::time_point m_tmTagVerificationStartTime;

            std::chrono::system_clock::time_point m_tmTagLastSeenTime;


        protected:

            void Start() override;

            void Exit() override;


        public:

            VerifyingMarkerState();

            void Run() override;

            States TriggerEvent(Event eEvent) override;

    };


}    // namespace statemachine


#endif    // VERIFYINGMARKERSTATE_H

statemachine::State
The abstract state class. All states inherit from this class.
Definition State.hpp:115

statemachine::VerifyingMarkerState
The VerifyingMarkerState class implements the Verifying Marker state for the Autonomy State Machine.
Definition VerifyingMarkerState.h:34

statemachine::VerifyingMarkerState::Start
void Start() override
This method is called when the state is first started. It is used to initialize the state.
Definition VerifyingMarkerState.cpp:32

statemachine::VerifyingMarkerState::Run
void Run() override
Run the state machine. Returns the next state.
Definition VerifyingMarkerState.cpp:86

statemachine::VerifyingMarkerState::TriggerEvent
States TriggerEvent(Event eEvent) override
Trigger an event in the state machine. Returns the next state.
Definition VerifyingMarkerState.cpp:158

statemachine::VerifyingMarkerState::VerifyingMarkerState
VerifyingMarkerState()
Construct a new State object.
Definition VerifyingMarkerState.cpp:67

statemachine::VerifyingMarkerState::Exit
void Exit() override
This method is called when the state is exited. It is used to clean up the state.
Definition VerifyingMarkerState.cpp:54

statemachine
Namespace containing all state machine related classes.
Definition State.hpp:23

statemachine::Event
Event
The events that can be triggered in the state machine.
Definition State.hpp:54

statemachine::States
States
The states that the state machine can be in.
Definition State.hpp:31

geoops::Waypoint
This struct is used by the WaypointHandler class to store location, size, and type information about ...
Definition GeospatialOperations.hpp:392