rclcpp_lifecycle::Transition Class Reference

The Transition class abstract the Lifecycle's states. More...

#include <transition.hpp>

Collaboration diagram for rclcpp_lifecycle::Transition:

Public Member Functions
	Transition ()=delete
	Transition (uint8_t id, const std::string &label="", rcutils_allocator_t allocator=rcutils_get_default_allocator())
	Transition constructor. More...
	Transition (uint8_t id, const std::string &label, State &&start, State &&goal, rcutils_allocator_t allocator=rcutils_get_default_allocator())
	Transition constructor. More...
	Transition (const rcl_lifecycle_transition_t *rcl_lifecycle_transition_handle, rcutils_allocator_t allocator=rcutils_get_default_allocator())
	Transition constructor. More...
	Transition (const Transition &rhs)
virtual	~Transition ()
Transition &	operator= (const Transition &rhs)
uint8_t	id () const
	Return the id. More...
std::string	label () const
	Return the label. More...
State	start_state () const
	Return the start state of the transition. More...
State	goal_state () const
	Return the goal state of the transition. More...

Protected Member Functions
void	reset () noexcept

Protected Attributes
rcutils_allocator_t	allocator_
bool	owns_rcl_transition_handle_
rcl_lifecycle_transition_t *	transition_handle_

Detailed Description

The Transition class abstract the Lifecycle's states.

There are 7 transitions exposed to a supervisory process, they are: create, configure, cleanup, activate, deactivate, shutdown and destroy.

Constructor & Destructor Documentation

Transition() [1/5]

rclcpp_lifecycle::Transition::Transition ( )

delete

Transition() [2/5]

rclcpp_lifecycle::Transition::Transition ( uint8_t  id, const std::string &  label = "", rcutils_allocator_t  allocator = rcutils_get_default_allocator()  )

explicit

Transition constructor.

Parameters

[in]	id	of the transition
[in]	label	of the transition
[in]	allocator	a valid allocator used to initialized the state.

Transition() [3/5]

rclcpp_lifecycle::Transition::Transition	(	uint8_t	id,
		const std::string &	label,
		State &&	start,
		State &&	goal,
		rcutils_allocator_t	allocator = rcutils_get_default_allocator()
	)

Transition constructor.

Parameters

[in]	id	of the transition
[in]	label	of the transition
[in]	start	state of the transition
[in]	goal	state of the transition
[in]	allocator	a valid allocator used to initialized the state.

Transition() [4/5]

rclcpp_lifecycle::Transition::Transition ( const rcl_lifecycle_transition_t *  rcl_lifecycle_transition_handle, rcutils_allocator_t  allocator = rcutils_get_default_allocator()  )

explicit

Transition constructor.

Parameters

[in]	rcl_lifecycle_transition_handle	structure with the transition details
[in]	allocator	a valid allocator used to initialized the state.

Transition() [5/5]

rclcpp_lifecycle::Transition::Transition

(

const Transition &

rhs

)

~Transition()

virtual rclcpp_lifecycle::Transition::~Transition ( )

virtual

Member Function Documentation

operator=()

Transition& rclcpp_lifecycle::Transition::operator=

(

const Transition &

rhs

)

id()

uint8_t rclcpp_lifecycle::Transition::id

(

)

const

Return the id.

Returns

id of the state

label()

std::string rclcpp_lifecycle::Transition::label

(

)

const

Return the label.

Returns

label of the transition

start_state()

State rclcpp_lifecycle::Transition::start_state

(

)

const

Return the start state of the transition.

Returns

start state of the transition.

goal_state()

State rclcpp_lifecycle::Transition::goal_state

(

)

const

Return the goal state of the transition.

Returns

goal state of the transition.

reset()

void rclcpp_lifecycle::Transition::reset ( )

protectednoexcept

Member Data Documentation

allocator_

rcutils_allocator_t rclcpp_lifecycle::Transition::allocator_

protected

owns_rcl_transition_handle_

bool rclcpp_lifecycle::Transition::owns_rcl_transition_handle_

protected

transition_handle_

rcl_lifecycle_transition_t* rclcpp_lifecycle::Transition::transition_handle_

protected

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

• include/rclcpp_lifecycle/transition.hpp