Return to mission using a flightplan.

#include <Handlers.hpp>

Inheritance diagram for ReturnToMission:

Public Member Functions
retVal_e	Initialize (CognitionState_t *state)
	perform all initialization activities for a specific task More...

retVal_e	Execute (CognitionState_t *state)
	perform the core activity More...

Public Member Functions inherited from EventHandler< CognitionState_t >
virtual retVal_e	Terminate (CognitionState_t *state)
	perform termination activities More...

bool	RunEvent (CognitionState_t *state)
	Run this event. More...

void	ExecuteHandler (std::shared_ptr< EventHandler< CognitionState_t > > hdl, std::string eventName, float priorityNew=0)
	Spawn another handler. More...

Additional Inherited Members
Public Types inherited from EventHandler< CognitionState_t >
enum	execState_e
	enumerations for the execution state More...

enum	retVal_e
	enumerations for the return state

Public Attributes inherited from EventHandler< CognitionState_t >
std::string	eventName
	event name

execState_e	execState
	current execution state for this handler

std::list< std::shared_ptr< EventHandler< CognitionState_t > > >	children
	list of child handlers

float	priority
	current execution priority

float	defaultPriority
	user defined priority for this handler

Member Function Documentation

◆ Execute()

retVal_e ReturnToMission::Execute ( CognitionState_t * state )

inlinevirtual

Parameters

state

Activate new plan if the new plan was received

Check for status of path request if request hasn't been responded yet. TODO: Perhaps a timeout is necessary here

retVal_e ReturnToMission::Initialize ( CognitionState_t * state )

inlinevirtual

Parameters

state

Only execute this handler if the nominal plan was not completed

Only execute if cognition is active

Extract current position and velocity

Two possible options for goals

Send out path planning request

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