Public Member Functions
	Introspection (const TaskPrivate *task)

	Introspection (const Introspection &other)=delete

moveit_task_constructor_msgs::TaskDescription &	fillTaskDescription (moveit_task_constructor_msgs::TaskDescription &msg)
	fill task description message for publishing the task configuration

void	publishTaskDescription ()
	publish detailed task description

moveit_task_constructor_msgs::TaskStatistics &	fillTaskStatistics (moveit_task_constructor_msgs::TaskStatistics &msg)
	fill task state message for publishing the current task state

void	publishTaskState ()
	publish the current state of task

void	reset ()
	indicate that this task was reset

void	registerSolution (const SolutionBase &s)
	register the given solution, assigning a unique ID

void	publishSolution (const SolutionBase &s)
	publish the given solution

void	publishAllSolutions (bool wait=true)
	publish all top-level solutions of task

bool	getSolution (moveit_task_constructor_msgs::GetSolution::Request &req, moveit_task_constructor_msgs::GetSolution::Response &res)
	get solution

uint32_t	stageId (const moveit::task_constructor::Stage *const s) const
	retrieve id of given stage

uint32_t	solutionId (const moveit::task_constructor::SolutionBase &s)
	retrieve or set id of given solution

Detailed Description

The Introspection class provides publishing of task state and solutions.

It is interlinked to its task.

The documentation for this class was generated from the following files:

/__w/moveit_task_constructor/moveit_task_constructor/core/include/moveit/task_constructor/introspection.h
/__w/moveit_task_constructor/moveit_task_constructor/core/src/introspection.cpp

Public Member Functions