statemachine Namespace Reference

Namespace containing all state machine related classes. More...

Classes
class	ApproachingMarkerState
	The ApproachingMarkerState class implements the Approaching Marker state for the Autonomy State Machine. More...
class	ApproachingObjectState
	The ApproachingObjectState class implements the Approaching Object state for the Autonomy State Machine. More...
class	AvoidanceState
	The AvoidanceState class implements the Avoidance state for the Autonomy State Machine. More...
class	IdleState
	The IdleState class implements the Idle state for the Autonomy State Machine. More...
class	NavigatingState
	The NavigatingState class implements the Navigating state for the Autonomy State Machine. More...
class	ReversingState
	The ReversingState class implements the Reversing state for the Autonomy State Machine. More...
class	SearchPatternState
	The SearchPatternState class implements the Search Pattern state for the Autonomy State Machine. More...
class	State
	The abstract state class. All states inherit from this class. More...
class	StuckState
	The StuckState class implements the Stuck state for the Autonomy State Machine. More...
class	TimeIntervalBasedStuckDetector
	This class should be instantiated within another state to be used for detection of if the rover is stuck. Stuck detection is solely based off of a check interval on the current velocity and rotation. If the velocity and rotation are non-moving for more then a maximum interval count, we are considered stuck. More...
class	VerifyingMarkerState
	The VerifyingMarkerState class implements the Verifying Marker state for the Autonomy State Machine. More...
class	VerifyingObjectState
	The VerifyingObjectState class implements the Verifying Object state for the Autonomy State Machine. More...
class	VerifyingPositionState
	The VerifyingPositionState class implements the Verifying Position state for the Autonomy State Machine. More...

Enumerations
enum class	States {   eIdle , eNavigating , eSearchPattern , eApproachingMarker ,   eApproachingObject , eVerifyingPosition , eVerifyingMarker , eVerifyingObject ,   eAvoidance , eReversing , eStuck , NUM_STATES }
	The states that the state machine can be in. More...
enum class	Event {   eStart , eReachedGpsCoordinate , eReachedMarker , eReachedObject ,   eMarkerSeen , eObjectSeen , eMarkerUnseen , eObjectUnseen ,   eVerifyingComplete , eVerifyingFailed , eAbort , eRestart ,   eObstacleAvoidance , eEndObstacleAvoidance , eNoWaypoint , eNewWaypoint ,   eReverse , eReverseComplete , eSearchFailed , eStuck ,   eUnstuck , NUM_EVENTS }
	The events that can be triggered in the state machine. More...

Functions
std::string	StateToString (States eState)
	Converts a state object to a string.

Detailed Description

Namespace containing all state machine related classes.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-17

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-05-24

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2024-04-23

Enumeration Type Documentation

States

enum class statemachine::States

strong

The states that the state machine can be in.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-18

    {
        eIdle,
        eNavigating,
        eSearchPattern,
        eApproachingMarker,
        eApproachingObject,
        eVerifyingPosition,
        eVerifyingMarker,
        eVerifyingObject,
        eAvoidance,
        eReversing,
        eStuck,
 
        NUM_STATES
    };

Event

enum class statemachine::Event

strong

The events that can be triggered in the state machine.

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-18

    {
        eStart,
        eReachedGpsCoordinate,
        eReachedMarker,
        eReachedObject,
        eMarkerSeen,
        eObjectSeen,
        eMarkerUnseen,
        eObjectUnseen,
        eVerifyingComplete,
        eVerifyingFailed,
        eAbort,
        eRestart,
        eObstacleAvoidance,
        eEndObstacleAvoidance,
        eNoWaypoint,
        eNewWaypoint,
        eReverse,
        eReverseComplete,
        eSearchFailed,
        eStuck,
        eUnstuck,
 
        NUM_EVENTS
    };

Function Documentation

StateToString()

std::string statemachine::StateToString ( States  eState )

inline

Converts a state object to a string.

Parameters

eState

-

Returns

std::string -

Author

Eli Byrd (edbgk.nosp@m.k@ms.nosp@m.t.edu)

Date

2024-01-18

    {
        switch (eState)
        {
            case States::eIdle: return "Idle";
            case States::eNavigating: return "Navigating";
            case States::eSearchPattern: return "Search Pattern";
            case States::eApproachingMarker: return "Approaching Marker";
            case States::eApproachingObject: return "Approaching Object";
            case States::eVerifyingPosition: return "Verifying Position";
            case States::eVerifyingMarker: return "Verifying Marker";
            case States::eVerifyingObject: return "Verifying Object";
            case States::eAvoidance: return "Avoidance";
            case States::eReversing: return "Reversing";
            case States::eStuck: return "Stuck";
            default: return "Unknown";
        }
    }

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