#include <container.h>
Inheritance diagram for moveit::task_constructor::ContainerBase:
Collaboration diagram for moveit::task_constructor::ContainerBase:
Public Types | |
| using | pointer = std::unique_ptr< ContainerBase > |
| using | StageCallback = std::function< bool(const Stage &, unsigned int)> |
 Public Types inherited from moveit::task_constructor::Stage | |
| enum | PropertyInitializerSource : uint8_t { DEFAULT = 0 , MANUAL = 1 , PARENT = 2 , INTERFACE = 4 } |
| using | pointer = std::unique_ptr< Stage > |
| using | SolutionCallback = std::function< void(const SolutionBase &)> |
| using | SolutionCallbackList = std::list< SolutionCallback > |
Public Member Functions | |
| void | setPruning (bool pruning) |
| Explicitly enable/disable pruning. | |
| bool | pruning () const |
| size_t | numChildren () const |
| Stage * | findChild (const std::string &name) const |
| Stage * | operator[] (int index) const |
| bool | traverseChildren (const StageCallback &processor) const |
| traverse direct children of this container, calling the callback for each of them | |
| bool | traverseRecursively (const StageCallback &processor) const |
| traverse all children of this container recursively | |
| void | add (Stage::pointer &&stage) |
| virtual void | insert (Stage::pointer &&stage, int before=-1) |
| virtual Stage::pointer | remove (int pos) |
| virtual Stage::pointer | remove (Stage *child) |
| virtual void | clear () |
| void | reset () override |
| reset stage, clearing all solutions, interfaces, inherited properties. | |
| void | init (const moveit::core::RobotModelConstPtr &robot_model) override |
| virtual bool | canCompute () const =0 |
| virtual void | compute ()=0 |
| void | explainFailure (std::ostream &os) const override |
| virtual void | onNewSolution (const SolutionBase &s)=0 |
| called by a (direct) child when a new solution becomes available | |
| Public Member Functions inherited from moveit::task_constructor::Stage | |
| const ContainerBase * | parent () const |
| const std::string & | name () const |
| void | setName (const std::string &name) |
| uint32_t | introspectionId () const |
| Introspection * | introspection () const |
| void | setTimeout (double timeout) |
| double | timeout () const |
| timeout of stage per computation | |
| void | setMarkerNS (const std::string &marker_ns) |
| const std::string & | markerNS () |
| marker namespace of solution markers | |
| void | setTrajectoryExecutionInfo (TrajectoryExecutionInfo trajectory_execution_info) |
| Set and get info to use when executing the stage's trajectory. | |
| TrajectoryExecutionInfo | trajectoryExecutionInfo () const |
| void | forwardProperties (const InterfaceState &source, InterfaceState &dest) |
| forwarding of properties between interface states | |
| std::set< std::string > | forwardedProperties () const |
| void | setForwardedProperties (const std::set< std::string > &names) |
| SolutionCallbackList::const_iterator | addSolutionCallback (SolutionCallback &&cb) |
| add function to be called for every newly found solution or failure | |
| void | removeSolutionCallback (SolutionCallbackList::const_iterator which) |
| remove function callback | |
| void | setCostTerm (const CostTermConstPtr &term) |
| template<typename T , typename = std::enable_if_t<std::is_constructible<LambdaCostTerm, T>::value>> | |
| void | setCostTerm (T term) |
| const ordered< SolutionBaseConstPtr > & | solutions () const |
| const std::list< SolutionBaseConstPtr > & | failures () const |
| size_t | numFailures () const |
| void | silentFailure () |
| Call to increase number of failures w/o storing a (failure) trajectory. | |
| bool | storeFailures () const |
| Should we generate failure solutions? Note: Always report a failure! | |
| PropertyMap & | properties () |
| Get the stage's property map. | |
| const PropertyMap & | properties () const |
| void | setProperty (const std::string &name, const boost::any &value) |
| Set a previously declared property to a new value. | |
| void | setProperty (const std::string &name, const char *value) |
| overload: const char* values are stored as std::string | |
| void | reportPropertyError (const Property::error &e) |
| Analyze source of error and report accordingly. | |
| double | getTotalComputeTime () const |
Protected Member Functions | |
| ContainerBase (ContainerBasePrivate *impl) | |
| Protected Member Functions inherited from moveit::task_constructor::Stage | |
| Stage (StagePrivate *impl) | |
| Stage can only be instantiated through derived classes. | |
| Stage (const Stage &)=delete | |
| Stage cannot be copied. | |
Additional Inherited Members | |
| Protected Attributes inherited from moveit::task_constructor::Stage | |
| StagePrivate * | pimpl_ |
Detailed Description
Base class for all container stages, i.e. ones that have one or more children
Member Typedef Documentation
◆ StageCallback
| using moveit::task_constructor::ContainerBase::StageCallback = std::function<bool(const Stage&, unsigned int)> |
Callback function type used by traverse functions Receives currently visited Stage and current depth in hierarchy If callback returns false, traversal is stopped.
Member Function Documentation
◆ init()
|
overridevirtual |
initialize stage once before planning
When called, properties configured for initialization from parent are already defined. Push interfaces are not yet defined!
Reimplemented from moveit::task_constructor::Stage.
Reimplemented in moveit::task_constructor::stages::SimpleGraspBase, moveit::task_constructor::stages::PredicateFilter, moveit::task_constructor::stages::PickPlaceBase, and moveit::task_constructor::Fallbacks.
The documentation for this class was generated from the following file:
- /__w/moveit_task_constructor/moveit_task_constructor/core/include/moveit/task_constructor/container.h
