// TODO : The below function seems to be inefficient, revisit for optimization, if required
public override void Update()
{
non_active_states_temp.Clear();
for (int i = active_states.Count - 1; i >= 0; i--)
{
FuSMState state = active_states[i];
if (!(state.getActivation() > state.LowerBound))
{
state.exit();
active_states.RemoveAt(i);
non_active_states_temp.Add(state);
}
}
for (int i = non_active_states.Count - 1; i >= 0; i--)
{
FuSMState state = non_active_states[i];
if (state.getActivation() > state.LowerBound)
{
state.enter();
non_active_states.RemoveAt(i);
active_states.Add(state);
}
}
non_active_states.AddRange(non_active_states_temp);
foreach (FuSMState state in active_states)
{
state.Update();
}
}
public void addState(FuSMState state)
{
states.Add(state);
}