Type Configuration

The types used by HFSM2 can be configured using parameterized hfsm2::MachineT<hfsm2::Config> structure in place of default-configured hfsm2::Machine, e.g.:

using M = hfsm2::MachineT< hfsm2::Config ::ContextT<Empty> ::RandomT<hfsm2::XoShiRo128Plus> >;

(from test_debug.cpp).

Once hfsm2::Config is fully declared, it needs to be passed as a template argument into hfsm2::MachineT<> to define configured HFSM2 parent struct containing all derivative types used in client code.

hfsm2::Config customization points:

Feature Define	Type	Used In	Default
	ContextT<T>	Context& Control::context() (see Context)	EmptyContext
HFSM2_ENABLE_UTILITY_THEORY	RankT<T>	Rank State::rank()	int8_t
HFSM2_ENABLE_UTILITY_THEORY	UtilityT<T>	Utility State::utility()	float
HFSM2_ENABLE_UTILITY_THEORY	RandomT<T>	Used internally by randomize() transition and Random region	RandomT<float>
	SubstitutionLimitN<N>	Maximum number of times State::entryGuard()methods are allowed to substitute the transition into their class for a transition into another one during the single *Root::update()	4
HFSM2_ENABLE_PLANS	TaskCapacityN<N>	Total number of tasks across all plans in an FSM	2x Number of Sub-States of All Composite Regions