#include <stage.h>
Inheritance diagram for moveit::task_constructor::PropagatingEitherWay:
Collaboration diagram for moveit::task_constructor::PropagatingEitherWay:
Public Types | |
| enum | Direction : uint8_t { AUTO = 0x00 , FORWARD = 0x01 , BACKWARD = 0x02 } |
 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 | |
| PropagatingEitherWay (const std::string &name="propagating either way") | |
| void | restrictDirection (Direction dir) |
| virtual void | computeForward (const InterfaceState &from) |
| virtual void | computeBackward (const InterfaceState &to) |
| Public Member Functions inherited from moveit::task_constructor::Stage | |
| virtual void | reset () |
| reset stage, clearing all solutions, interfaces, inherited properties. | |
| virtual void | init (const moveit::core::RobotModelConstPtr &robot_model) |
| 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! | |
| virtual void | explainFailure (std::ostream &os) const |
| 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 | |
| PropagatingEitherWay (PropagatingEitherWayPrivate *impl) | |
| template<Interface::Direction dir> | |
| void | send (const InterfaceState &start, InterfaceState &&end, SubTrajectory &&trajectory) |
| void | sendForward (const InterfaceState &from, InterfaceState &&to, SubTrajectory &&trajectory) |
| void | sendBackward (InterfaceState &&from, const InterfaceState &to, SubTrajectory &&trajectory) |
| Protected Member Functions inherited from moveit::task_constructor::ComputeBase | |
| ComputeBase (ComputeBasePrivate *impl) | |
| ComputeBase can only be instantiated by derived classes in stage.cpp. | |
| 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 stages that can propagate InterfaceStates
They read an InterfaceState on one side (start or end) and push a new InterfaceState to the opposite side. By default, the class auto-derives its actual propagation direction from the context. In order to enforce forward, backward, or bothway propagation, one can use restrictDirection().
The documentation for this class was generated from the following files:
- /__w/moveit_task_constructor/moveit_task_constructor/core/include/moveit/task_constructor/stage.h
- /__w/moveit_task_constructor/moveit_task_constructor/core/src/stage.cpp
