MipTasks::Task Class Reference

abstract Task class More...

#include <Task.h>

Inheritance diagram for MipTasks::Task:

List of all members.

Public Member Functions
	Task ()
virtual TaskPlate	getPlate () const =0
	get task plate (mandatory), it ust be defined for all implemented task
virtual string	getName () const
	get name
virtual string	getObjectName () const
	Method that gives the name of the class as it will be displayed by the tracer.
string	print ()
	print plate and name
virtual Time	getMaxDuration ()=0
virtual Time	getMaxSamplPeriod ()=0
virtual Time	getMinSamplPeriod ()=0
virtual TaskOutputs	run (void)=0
void	fatalResourceNotPresent (uint resourcePlate)
	Fatal error, called when a certain resource is not found.
void	warningResourceNotPresent (uint resourcePlate)
	Warning message, called when a certain resource is not found but is not fatal.
Public Attributes
Timer	lastRunTimer
	used by the scheduler

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Detailed Description

abstract Task class

Note:

how to create a new Task:

1. declare the new task as derived of Task: class newTask : public Task...
   note that the constructor of a task must accept as parameter a ResourcePointers vector, in which look for the appropriate resources
   
2. add a plate and a name in the TaskDict.h header file (see other tasks to understand the mechanism)
   
3. define the pure virtual method getPlate() that returns the correct plate
   
4. define the pure virtual methods that returns the correct times
   
5. add a case in the switch of the method Scheduler::loadTasks in which the plate is checked and the newTask constructor is passed to the template method Scheduler::taskLoader
   
6. include the header file in Tasks-Resources-386.h

Author:

Antonio Franchi antonio.franchi@tuebingen.mpg.de

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Constructor & Destructor Documentation

MipTasks::Task::Task

(

)

[inline]

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Member Function Documentation

virtual TaskPlate MipTasks::Task::getPlate

(

)

const [pure virtual]

get task plate (mandatory), it ust be defined for all implemented task

Implemented in MipTasks::AntiSimmetryTask, MipTasks::ClearingTask, MipTasks::Cloche, MipTasks::DeployTask, MipTasks::DriverTask, MipTasks::EmergencyLock, MipTasks::ExampleTask, MipTasks::FeatExtrCam, MipTasks::FeatExtrTask, MipTasks::FormControlTask, MipTasks::FormUpdate, MipTasks::Joystick, MipTasks::KbHitTask, MipTasks::LaserNavigationTask, MipTasks::LineFollowing, MipTasks::Localization3D, MipTasks::MutLocTask, MipTasks::ObstacleAvoidance, MipTasks::OfflinerTask, MipTasks::ParticleMutLocTask, MipTasks::ParticleMutLocCamOffTask, MipTasks::ParticleMutLocCamTask, MipTasks::ParticleMutLocTaskNoMR, MipTasks::CentralizedPHDFilterTask, MipTasks::PHDCamFilterTask, MipTasks::PHDFilterTask, MipTasks::Pursuing, MipTasks::Pursuing, MipTasks::Pursuing, MipTasks::RemoteRobTask, MipTasks::ScanMatching, MipTasks::Tracker, MipTasks::UavHeightControl, MipTasks::UavHeiConOnboard, MipTasks::ExampleTask, MipTasks::UAVPositioningSystem, and MipTasks::VisualHovering.

virtual string MipTasks::Task::getName

(

void

)

const [inline, virtual]

get name

virtual string MipTasks::Task::getObjectName

(

)

const [inline, virtual]

Method that gives the name of the class as it will be displayed by the tracer.

Returns:

a string, which is the name of the current class

Note:

pure virtual, has to be redefined for each child class

Implements MIPObject.

string MipTasks::Task::print

(

)

[inline]

print plate and name

virtual Time MipTasks::Task::getMaxDuration

(

)

[pure virtual]

get maxDuration, maximum time duration of a run call

Implemented in MipTasks::AntiSimmetryTask, MipTasks::ClearingTask, MipTasks::Cloche, MipTasks::DeployTask, MipTasks::DriverTask, MipTasks::EmergencyLock, MipTasks::ExampleTask, MipTasks::FeatExtrCam, MipTasks::FeatExtrTask, MipTasks::FormControlTask, MipTasks::FormUpdate, MipTasks::Joystick, MipTasks::KbHitTask, MipTasks::LaserNavigationTask, MipTasks::LineFollowing, MipTasks::Localization3D, MipTasks::MutLocTask, MipTasks::ObstacleAvoidance, MipTasks::OfflinerTask, MipTasks::ParticleMutLocTask, MipTasks::ParticleMutLocCamOffTask, MipTasks::ParticleMutLocCamTask, MipTasks::ParticleMutLocTaskNoMR, MipTasks::CentralizedPHDFilterTask, MipTasks::PHDCamFilterTask, MipTasks::PHDFilterTask, MipTasks::Pursuing, MipTasks::Pursuing, MipTasks::Pursuing, MipTasks::RemoteRobTask, MipTasks::ScanMatching, MipTasks::Tracker, MipTasks::UavHeightControl, MipTasks::UavHeiConOnboard, MipTasks::ExampleTask, MipTasks::UAVPositioningSystem, and MipTasks::VisualHovering.

virtual Time MipTasks::Task::getMaxSamplPeriod

(

)

[pure virtual]

get maxSamplPeriod, maximum allowed time period between two calls of a run

Implemented in MipTasks::AntiSimmetryTask, MipTasks::ClearingTask, MipTasks::Cloche, MipTasks::DeployTask, MipTasks::DriverTask, MipTasks::EmergencyLock, MipTasks::ExampleTask, MipTasks::FeatExtrCam, MipTasks::FeatExtrTask, MipTasks::FormControlTask, MipTasks::FormUpdate, MipTasks::Joystick, MipTasks::KbHitTask, MipTasks::LaserNavigationTask, MipTasks::LineFollowing, MipTasks::Localization3D, MipTasks::MutLocTask, MipTasks::ObstacleAvoidance, MipTasks::OfflinerTask, MipTasks::ParticleMutLocTask, MipTasks::ParticleMutLocCamOffTask, MipTasks::ParticleMutLocCamTask, MipTasks::ParticleMutLocTaskNoMR, MipTasks::CentralizedPHDFilterTask, MipTasks::PHDCamFilterTask, MipTasks::PHDFilterTask, MipTasks::Pursuing, MipTasks::Pursuing, MipTasks::Pursuing, MipTasks::RemoteRobTask, MipTasks::ScanMatching, MipTasks::Tracker, MipTasks::UavHeightControl, MipTasks::UavHeiConOnboard, MipTasks::ExampleTask, MipTasks::UAVPositioningSystem, and MipTasks::VisualHovering.

virtual Time MipTasks::Task::getMinSamplPeriod

(

)

[pure virtual]

get minSamplPeriod, minimum allowed time period between two calls of a run

Implemented in MipTasks::AntiSimmetryTask, MipTasks::ClearingTask, MipTasks::Cloche, MipTasks::DeployTask, MipTasks::DriverTask, MipTasks::EmergencyLock, MipTasks::ExampleTask, MipTasks::FeatExtrCam, MipTasks::FeatExtrTask, MipTasks::FormControlTask, MipTasks::FormUpdate, MipTasks::Joystick, MipTasks::KbHitTask, MipTasks::LaserNavigationTask, MipTasks::LineFollowing, MipTasks::Localization3D, MipTasks::MutLocTask, MipTasks::ObstacleAvoidance, MipTasks::OfflinerTask, MipTasks::ParticleMutLocTask, MipTasks::ParticleMutLocCamOffTask, MipTasks::ParticleMutLocCamTask, MipTasks::ParticleMutLocTaskNoMR, MipTasks::CentralizedPHDFilterTask, MipTasks::PHDCamFilterTask, MipTasks::PHDFilterTask, MipTasks::Pursuing, MipTasks::Pursuing, MipTasks::Pursuing, MipTasks::RemoteRobTask, MipTasks::ScanMatching, MipTasks::Tracker, MipTasks::UavHeightControl, MipTasks::UavHeiConOnboard, MipTasks::ExampleTask, MipTasks::UAVPositioningSystem, and MipTasks::VisualHovering.

virtual TaskOutputs MipTasks::Task::run

(

void

)

[pure virtual]

routine to run, it must be like a step of a finite state machine

Implemented in MipTasks::AntiSimmetryTask, MipTasks::ClearingTask, MipTasks::Cloche, MipTasks::DeployTask, MipTasks::DriverTask, MipTasks::EmergencyLock, MipTasks::ExampleTask, MipTasks::FeatExtrCam, MipTasks::FeatExtrTask, MipTasks::FormControlTask, MipTasks::FormUpdate, MipTasks::Joystick, MipTasks::KbHitTask, MipTasks::LaserNavigationTask, MipTasks::LineFollowing, MipTasks::Localization3D, MipTasks::MutLocTask, MipTasks::ObstacleAvoidance, MipTasks::OfflinerTask, MipTasks::ParticleMutLocTask, MipTasks::ParticleMutLocCamOffTask, MipTasks::ParticleMutLocCamTask, MipTasks::ParticleMutLocTaskNoMR, MipTasks::CentralizedPHDFilterTask, MipTasks::PHDCamFilterTask, MipTasks::PHDFilterTask, MipTasks::Pursuing, MipTasks::Pursuing, MipTasks::Pursuing, MipTasks::RemoteRobTask, MipTasks::ScanMatching, MipTasks::Tracker, MipTasks::UavHeightControl, MipTasks::UavHeiConOnboard, MipTasks::ExampleTask, MipTasks::UAVPositioningSystem, and MipTasks::VisualHovering.

void MipTasks::Task::fatalResourceNotPresent

(

uint

resourcePlate

)

[inline]

Fatal error, called when a certain resource is not found.

Parameters:

[in]

resurcePlate

Not found resource plate (or init plate).

void MipTasks::Task::warningResourceNotPresent

(

uint

resourcePlate

)

[inline]

Warning message, called when a certain resource is not found but is not fatal.

Parameters:

[in]

resurcePlate

Not found resource plate (or init plate).

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Member Data Documentation

Timer MipTasks::Task::lastRunTimer

used by the scheduler

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

• tasks/Task/Task.h