SoftBank Robotics documentation What's new in NAOqi 2.5?


This class is a type-erased pointer to a function. It has value semantics.

Detailed Description

It is possible to create a qi::AnyFunction from any functor (including boost::function). By using fromDynamicFunction, you can provide a “variadic” function that will receive a vector of references to its arguments.

qi::AnyFunction freeFunc = qi::AnyFunction::from(someFunc);
qi::AnyFunction memberFunc = qi::AnyFunction::from(Class::func, myObj);
// if you use boost::bind or qi::bind, you must explicitly cast to the right
// signature
qi::AnyFunction memberFunc = qi::AnyFunction::from(
    boost::function<int(int value1, const std::string& value2)>(
      boost::bind(someFunc, _1, "argument")));

You can then call the function with a vector of arguments or by giving the arguments as in a normal function call.


The caller is responsible for destroying its qi::AnyReference to the returned value when using type-erased calls. You can store the returned reference in a qi::AnyValue to benefit from RAII destruction.

// typed call
int value =<int>(42);

// using operator()
qi::AnyValue ret(func(42), false, true);
std::cout << ret.toInt() << std::endl;

// type-erased call
qi::AnyReferenceVector args;
ret.reset(, false, true);


typedef boost::function< AnyReference(const AnyReferenceVector &)> DynamicFunction

qi::AnyFunction Class Reference



#include <qi/anyfunction.hpp>

Public Functions

AnyFunction(const AnyFunction& b)
AnyFunction(FunctionTypeInterface* type, void* value)
AnyFunction& operator=(const AnyFunction& b)
AnyReference call(const AnyReferenceVector& args)
AnyReference call(AnyReference arg1, const AnyReferenceVector& args)
AnyReference operator()(const AnyReferenceVector& args)
template<typename R>
R call(qi::AutoAnyReference p1)
template<typename R>
AnyReference operator()(qi::AutoAnyReference p1)
const AnyFunction& dropFirstArgument() const
const AnyFunction& replaceFirstArgument(void* value) const
const AnyFunction& prependArgument(void* value) const
std::vector<TypeInterface*> argumentsType() const
TypeInterface* resultType() const
Signature parametersSignature(bool dropFirst) const
Signature returnSignature() const
void swap(AnyFunction& b)
operator bool() const
FunctionTypeInterface* functionType() const
template<typename T>
AnyFunction from(T&& f)

Public Static Functions

template<typename F>
AnyFunction from(F&& func)
template<typename F, typename C>
AnyFunction from(F func, C instance)
AnyFunction fromDynamicFunction(DynamicFunction f)

Detailed Description

Represents a generic callable function. This class has value semantic.

Function Documentation

template<typename F>
static AnyFunction qi::AnyFunction::from(F&& func)
template<typename F, typename C>


Returns:a AnyFunction binding instance to member function func
static AnyFunction qi::AnyFunction::from(F func, C instance)
static AnyFunction qi::AnyFunction::fromDynamicFunction(DynamicFunction f)


Returns:a AnyFunction that takes arguments as a list of unconverted AnyReference.
qi::AnyFunction::AnyFunction(const AnyFunction& b)
qi::AnyFunction::AnyFunction(FunctionTypeInterface* type, void* value)
AnyFunction& qi::AnyFunction::operator=(const AnyFunction& b)
AnyReference qi::AnyFunction::call(const AnyReferenceVector& args)

Call the function, reference must be destroy()ed.

AnyReference qi::AnyFunction::call(AnyReference arg1, const AnyReferenceVector& args)

Call the function, reference must be destroy()ed.

AnyReference qi::AnyFunction::operator(const AnyReferenceVector& args)

Call the function, reference must be destroy()ed.

template<typename R>
R qi::AnyFunction::call(qi::AutoAnyReference p1 = qi::AutoAnyReference()

Call the function.

template<typename R>
AnyReference qi::AnyFunction::operator(qi::AutoAnyReference p1 = qi::AutoAnyReference()

Call the function, reference must be destroy()ed.

const AnyFunction& qi::AnyFunction::dropFirstArgument() const

Change signature, drop the first argument passed to call.

const AnyFunction& qi::AnyFunction::replaceFirstArgument(void* value) const

Replace first argument by value which must be storage for correct type.

const AnyFunction& qi::AnyFunction::prependArgument(void* value) const

Prepend extra argument value to argument list.

std::vector<TypeInterface*> qi::AnyFunction::argumentsType() const

Return expected argument types, taking transform into account.

TypeInterface* qi::AnyFunction::resultType() const
Signature qi::AnyFunction::parametersSignature(bool dropFirst = false) const
Signature qi::AnyFunction::returnSignature() const
void qi::AnyFunction::swap(AnyFunction& b)
qi::AnyFunction::operator bool() const
FunctionTypeInterface* qi::AnyFunction::functionType() const
template<typename T>
AnyFunction qi::AnyFunction::from(T&& f)