abstract base class for solutions (primitive and sequences) More...

#include <storage.h>

Inheritance diagram for moveit::task_constructor::SolutionBase:

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Public Member Functions
const InterfaceState *	start () const

const InterfaceState *	end () const

void	setStartState (const InterfaceState &state)

void	setEndState (const InterfaceState &state)

const Stage *	creator () const

void	setCreator (Stage *creator)

double	cost () const

void	setCost (double cost)

void	markAsFailure (const std::string &msg=std::string())

bool	isFailure () const

const std::string &	comment () const

void	setComment (const std::string &comment)

auto &	markers ()

const auto &	markers () const

void	toMsg (moveit_task_constructor_msgs::Solution &solution, Introspection *introspection=nullptr) const
	convert solution to message

virtual void	appendTo (moveit_task_constructor_msgs::Solution &solution, Introspection *introspection=nullptr) const =0
	append this solution to Solution msg

void	fillInfo (moveit_task_constructor_msgs::SolutionInfo &info, Introspection *introspection=nullptr) const

virtual double	computeCost (const CostTerm &cost, std::string &comment) const =0
	required to dispatch to type-specific CostTerm methods via vtable

bool	operator< (const SolutionBase &other) const
	order solutions by their cost

Protected Member Functions
	SolutionBase (Stage *creator=nullptr, double cost=0.0, std::string comment="")

Detailed Description

abstract base class for solutions (primitive and sequences)

Member Function Documentation

void moveit::task_constructor::SolutionBase::setEndState ( const InterfaceState & state )

inline

Set the solution's end_state_

Must be called only once, because it registers the solution with the state.

void moveit::task_constructor::SolutionBase::setStartState ( const InterfaceState & state )

inline

Set the solution's start_state_

Must be called only once, because it registers the solution with the state.

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

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