A Behavior that can run any callable target in its update function. More...

#include <FunctionBehavior.h>

Inheritance diagram for SurgSim::Blocks::FunctionBehavior:

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

	SURGSIM_CLASSNAME (SurgSim::Blocks::FunctionBehavior)

void	setFunction (std::function< void(double)> function)
	Set the function to run in this behavior's update. More...

void	setTargetManagerType (int type)
	Set which manager will handle this behavior. More...

int	getTargetManagerType () const override
	Specifies which manger will handle this behavior.

void	update (double dt) override
	Update the behavior. More...

Public Member Functions inherited from SurgSim::Framework::Behavior
	Behavior (const std::string &name)

Public Member Functions inherited from SurgSim::Framework::Component
	Component (const std::string &name)
	Constructor. More...

virtual	~Component ()
	Destructor.

std::string	getName () const
	Gets component name. More...

std::string	getFullName () const
	Gets a string containing the name of the Component and (if it has one) its SceneElement. More...

void	setName (const std::string &name)
	Sets the name of component. More...

boost::uuids::uuid	getUuid () const
	Gets the id of the component.

bool	isInitialized () const

bool	initialize (const std::weak_ptr< Runtime > &runtime)
	Initialize this component, this needs to be called before wakeUp() can be called. More...

bool	isAwake () const

bool	wakeUp ()
	Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...

void	retire ()
	Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...

void	setScene (std::weak_ptr< Scene > scene)
	Sets the scene. More...

std::shared_ptr< Scene >	getScene ()
	Gets the scene. More...

void	setSceneElement (std::weak_ptr< SceneElement > sceneElement)
	Sets the scene element. More...

std::shared_ptr< SceneElement >	getSceneElement ()
	Gets the scene element. More...

std::shared_ptr< const SceneElement >	getSceneElement () const
	Gets the scene element, constant version. More...

std::shared_ptr< Runtime >	getRuntime () const
	Get the runtime which contains this component. More...

virtual std::string	getClassName () const
	The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...

std::shared_ptr< Component >	getSharedPtr ()
	Gets a shared pointer to this component. More...

virtual void	doRetire ()
	Interface to be implemented by derived classes Has a default implementation, does nothing.

bool	isActive () const

virtual void	setLocalActive (bool val)
	Set the component's active state. More...

bool	isLocalActive () const

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Additional Inherited Members
Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string >	FactoryType

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType &	getFactory ()

Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent >	getPoseComponent ()
	Get the PoseComponent for this component. More...

virtual std::shared_ptr< const PoseComponent >	getPoseComponent () const
	Get the PoseComponent for this component, constant access. More...

Detailed Description

A Behavior that can run any callable target in its update function.

This behavior has a customizable update function, that can run any callable target, ie functions, lambda expressions, bind expressions, as well as pointers to member functions.

Example Usage:

void f1(double dt) { std::cout << dt; }
void f2(double dt, double a) { std::cout << dt + a; }
int main()
{
    // A FunctionBehavior that runs a function
    auto behavior1 = std::make_shared<SurgSim::Blocks:FunctionBehavior>("Behavior 1");
    behavior1->setTargetManagerType(SurgSim::Framework::MANAGER_TYPE_BEHAVIOR);
    behavior1->setFunction(f1);
    // A FunctionBehavior that runs a std::bind function
    auto behavior2 = std::make_shared<SurgSim::Blocks:FunctionBehavior>("Behavior 2");
    behavior2->setTargetManagerType(SurgSim::Framework::MANAGER_TYPE_GRAPHICS);
    behavior2->setFunction(std::bind(f2, std::placeholders::_1, 2.0));
    // A FunctionBehavior that runs a lambda function
    auto behavior3 = std::make_shared<SurgSim::Blocks:FunctionBehavior>("Behavior 3");
    behavior3->setTargetManagerType(SurgSim::Framework::MANAGER_TYPE_PHYSICS);
    behavior3->setFunction([](double dt) { std::cout << dt; });
    auto element = std::make_shared<SurgSim::Framework::BasicSceneElement>("Element");
    element->addComponent(behavior1);
    element->addComponent(behavior2);
    element->addComponent(behavior3);
    return 0;
}

Note: The FunctionBehavior is incompatible with serialization

Constructor & Destructor Documentation

§ FunctionBehavior()

SurgSim::Blocks::FunctionBehavior::FunctionBehavior ( const std::string & name )

explicit

Constructor.

Parameters

name	Name of the behavior

Member Function Documentation

§ setFunction()

void SurgSim::Blocks::FunctionBehavior::setFunction ( std::function< void(double)> function )

Set the function to run in this behavior's update.

Parameters

function The function

§ setTargetManagerType()

void SurgSim::Blocks::FunctionBehavior::setTargetManagerType ( int type )

Set which manager will handle this behavior.

Parameters

type	Type of manager for this behavior

§ update()

void SurgSim::Blocks::FunctionBehavior::update ( double dt )

overridevirtual

Update the behavior.

Parameters

dt	The length of time (seconds) between update calls.

Implements SurgSim::Framework::Behavior.

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

SurgSim/Blocks/FunctionBehavior.h
SurgSim/Blocks/FunctionBehavior.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ FunctionBehavior()

Member Function Documentation

§ setFunction()

§ setTargetManagerType()

§ update()