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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
​

Feature Macros

Context

Last modified 3yr ago

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