The basic state of the behavior finite state machine. More...

#include <State.h>

Public Member Functions
	State (const std::string &name)
	Constructor. More...

	~State ()
	Destructor.

void	getTasks (FSM *fsm)
	Gets the tasks for all of the state's FSM elements. More...

void	getPrefVelocity (Agents::BaseAgent *agent, Agents::PrefVelocity &velocity)
	Modifies the input preferred velocity to reflect a velocity for the agent specified. More...

void	setFinal (bool isFinal)
	Set whether the state is final or not. More...

bool	getFinal () const
	Reports if the state is final or not. More...

State *	testTransitions (Agents::BaseAgent *agent)
	Test the transitions out of this state for the given agent. More...

virtual void	enter (Agents::BaseAgent *agent)
	Automatically called when an agent enters the state. More...

virtual void	leave (Agents::BaseAgent *agent)
	Automatically called when an agent leaves the state. More...

void	addTransition (Transition *t)
	Add a transition to the state. More...

void	setVelComponent (VelComponent *vc)
	Sets the velocity component to the state. More...

void	addAction (Action *a)
	Add an action to the state. More...

void	addVelModifier (VelModifier *v)
	Add an velocity modifier to the state. More...

size_t	getID () const
	Returns the globally unique state identifier. More...

std::string	getName () const
	Returns the name of the state. More...

size_t	getPopulation () const
	Returns the number of agents in this state. More...

void	setGoalSelector (GoalSelector *selector)
	Sets the goal selector for the state. More...

GoalSelector *	getGoalSelector ()
	Returns a pointer to the goal selector. More...

void	clearGoalSelector ()
	Clears the state's current goal selector.

Protected Member Functions
State *	testTransitions (Agents::BaseAgent agent, std::set< State > &visited)
	Test the transitions out of this state, tracking cycles. More...

Protected Attributes
VelComponent *	_velComponent
	The single velocity component associated with this state.

std::vector< Transition * >	transitions_
	A priority-ordered list of transitions to determine if the state changes. The order of the transitions in the implicitly defines the testing priority.

std::vector< VelModifier * >	velModifiers_
	A priority-ordered list of velocity modifiers to determine if the state changes. The order of the modifierss in the implicitly defines the testing priority.

std::vector< Action * >	actions_
	Actions to take upon entering and leaving the state.

bool	_final
	Determines if the state is a final state (true), or not (false).

GoalSelector *	_goalSelector
	The goal selector for this state.

HASH_MAP< size_t, Goal * >	_goals
	A mapping from agent id to its per-agent goal.

std::string	_name
	The name of the state.

size_t	_id
	The globally unique id of state.

ReadersWriterLock	_goalLock
	The lock for accessing the goals.

Friends
class	StateContext

Detailed Description

The basic state of the behavior finite state machine.

A state node in the finite state machine for determining "behaviors". The state requires a velocity component to determine how the preferred velocity is computed (see VelComponent). State's can also include actions, taken on an agent when it leaves the state and an optional corresponding action upon leaving the state (see Action). Agents leave the state based on transitions (see Transition).

State's can be marked as "final". Agents can transition out of final states. However, in any given time step, when all agents are in final states the simulation stops.

Constructor & Destructor Documentation

Menge::BFSM::State::State ( const std::string & name )

Constructor.

Parameters

name	The name of this state.

Member Function Documentation

void Menge::BFSM::State::addAction ( Action * a )

inline

Add an action to the state.

Parameters

a	The action to add.

void Menge::BFSM::State::addTransition ( Transition * t )

inline

Add a transition to the state.

It is assumed that the transition is already correctly connected to the states as is required (the "to" and "from" states). The order the transitions are added inherently defines their priority.

Parameters

t	The transition to add.

void Menge::BFSM::State::addVelModifier ( VelModifier * v )

inline

Add an velocity modifier to the state.

Parameters

v	The modifier to add

void Menge::BFSM::State::enter ( Agents::BaseAgent * agent )

virtual

Automatically called when an agent enters the state.

Parameters

agent The agent who entered the state.

bool Menge::BFSM::State::getFinal ( ) const

inline

Reports if the state is final or not.

Returns: True if the state is a final state, false otherwise.

GoalSelector* Menge::BFSM::State::getGoalSelector ( )

inline

Returns a pointer to the goal selector.

Returns: Pointer to the state's goal selector.

size_t Menge::BFSM::State::getID ( ) const

inline

Returns the globally unique state identifier.

The identifier is unique w.r.t. all other states (although the same identifier may be used for other entities in their own contexts).

Returns: The state's identifier.

std::string Menge::BFSM::State::getName ( ) const

inline

Returns the name of the state.

Returns: The state's name.

size_t Menge::BFSM::State::getPopulation ( ) const

Returns the number of agents in this state.

Returns: The number of agents in this state.

void Menge::BFSM::State::getPrefVelocity	(	Agents::BaseAgent *	agent,
		Agents::PrefVelocity &	velocity
	)

Modifies the input preferred velocity to reflect a velocity for the agent specified.

Parameters

agent	The agent for which a preferred velocity is computed.
velocity	The preferred velocity object (by reference) to modify reflecting the agent's new velocity

void Menge::BFSM::State::getTasks ( FSM * fsm )

Gets the tasks for all of the state's FSM elements.

Parameters

fsm	A pointer to the fsm. Tasks are fed to the fsm.

void Menge::BFSM::State::leave ( Agents::BaseAgent * agent )

virtual

Automatically called when an agent leaves the state.

Parameters

agent The agent who left the state.

void Menge::BFSM::State::setFinal ( bool isFinal )

inline

Set whether the state is final or not.

Parameters

isFinal If true, the state is set to be final, if false, not.

void Menge::BFSM::State::setGoalSelector ( GoalSelector * selector )

Sets the goal selector for the state.

Once the goal selector is assigned to the state, the state takes ownership of the memory and is responsible for freeing it.

Parameters

selector A pointer to the goal selector.

void Menge::BFSM::State::setVelComponent ( VelComponent * vc )

inline

Sets the velocity component to the state.

Once this is called, the State takes ownership of the velocity component and the caller should not destroy it.

Parameters

vc	The velocity component to set.

State * Menge::BFSM::State::testTransitions ( Agents::BaseAgent * agent )

Test the transitions out of this state for the given agent.

The transitions will be tested in priority order. The first transition which is found to be active will be taken.

Parameters

agent The agent to test w.r.t. the transitions.

Returns: A pointer to the next state if a transition is active, otherwise, it returns NULL, meaning the agent remains in this state.

State * Menge::BFSM::State::testTransitions	(	Agents::BaseAgent *	agent,
		std::set< State * > &	visited
	)

protected

Test the transitions out of this state, tracking cycles.

The transitions will be tested in priority order. The first transition which is found to be active will be taken.

Parameters

agent	The agent to test w.r.t. the transitions.
visited	The set of states visited during transition testing. Used to prevent cycles.

Returns: A pointer to the next state if a transition is active, otherwise, it returns NULL, meaning the agent remains in this state.

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

src/menge/MengeCore/BFSM/State.h
src/menge/MengeCore/BFSM/State.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation