SubTrajectory connects interface states of ComputeStages. More...
#include <storage.h>
Inheritance diagram for moveit::task_constructor::SubTrajectory:
Collaboration diagram for moveit::task_constructor::SubTrajectory:
Public Member Functions | |
| SubTrajectory (const robot_trajectory::RobotTrajectoryConstPtr &trajectory=robot_trajectory::RobotTrajectoryConstPtr(), double cost=0.0, std::string comment="") | |
| robot_trajectory::RobotTrajectoryConstPtr | trajectory () const |
| void | setTrajectory (const robot_trajectory::RobotTrajectoryPtr &t) |
| void | appendTo (moveit_task_constructor_msgs::Solution &msg, Introspection *introspection=nullptr) const override |
| append this solution to Solution msg | |
| double | computeCost (const CostTerm &cost, std::string &comment) const override |
| required to dispatch to type-specific CostTerm methods via vtable | |
 Public Member Functions inherited from moveit::task_constructor::SolutionBase | |
| 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 | |
| void | fillInfo (moveit_task_constructor_msgs::SolutionInfo &info, Introspection *introspection=nullptr) const |
| bool | operator< (const SolutionBase &other) const |
| order solutions by their cost | |
Static Public Member Functions | |
| static SubTrajectory | failure (const std::string &msg) |
Additional Inherited Members | |
| Protected Member Functions inherited from moveit::task_constructor::SolutionBase | |
| SolutionBase (Stage *creator=nullptr, double cost=0.0, std::string comment="") | |
Detailed Description
SubTrajectory connects interface states of ComputeStages.
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
