#include <task.h>

Inheritance diagram for moveit::task_constructor::Task:

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Collaboration diagram for moveit::task_constructor::Task:

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Public Types
using	TaskCallback = std::function< void(const Task &t)>

using	TaskCallbackList = std::list< TaskCallback >

Public Member Functions
	Task (const std::string &ns="", bool introspection=true, ContainerBase::pointer &&container=std::make_unique< SerialContainer >("task pipeline"))

	Task (Task &&other)

Task &	operator= (Task &&other)

const std::string &	name () const

void	setName (const std::string &name)

Stage *	findChild (const std::string &name) const

Stage *	operator[] (int index) const

const moveit::core::RobotModelConstPtr &	getRobotModel () const

void	setRobotModel (const moveit::core::RobotModelConstPtr &robot_model)
	setting the robot model also resets the task

void	loadRobotModel (const std::string &robot_description="robot_description")
	load robot model from given parameter

void	add (Stage::pointer &&stage)

void	insert (Stage::pointer &&stage, int before=-1) override
	insertion is only allowed if children() is empty

void	clear () final

void	enableIntrospection (bool enable=true)
	enable introspection publishing for use with rviz

Introspection &	introspection ()

TaskCallbackList::const_iterator	addTaskCallback (TaskCallback &&cb)
	add function to be called after each top-level iteration

void	eraseTaskCallback (TaskCallbackList::const_iterator which)
	remove function callback

void	reset () final
	reset all stages

void	init ()
	initialize all stages with given scene

moveit::core::MoveItErrorCode	plan (size_t max_solutions=0)
	reset, init scene (if not yet done), and init all stages, then start planning

void	preempt ()
	interrupt current planning

void	resetPreemptRequest ()

moveit::core::MoveItErrorCode	execute (const SolutionBase &s)
	execute solution, return the result

void	printState (std::ostream &os=std::cout) const
	print current task state (number of found solutions and propagated states) to std::cout

bool	explainFailure (std::ostream &os=std::cout) const override
	print an explanation for a planning failure to os

size_t	numSolutions () const

const ordered< SolutionBaseConstPtr > &	solutions () const

const std::list< SolutionBaseConstPtr > &	failures () const

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

ContainerBase *	stages ()
	access stage tree

const ContainerBase *	stages () const

PropertyMap &	properties ()
	properties access

const PropertyMap &	properties () const

void	setProperty (const std::string &name, const boost::any &value)

void	setProperty (const std::string &name, const char *value)
	overload: const char* values are stored as std::string

Protected Member Functions
bool	canCompute () const override

void	compute () override

void	onNewSolution (const SolutionBase &s) override
	called by a (direct) child when a new solution becomes available

Protected Member Functions inherited from moveit::task_constructor::WrapperBase
	WrapperBase (WrapperBasePrivate *impl, Stage::pointer &&child=Stage::pointer())

	WrapperBase (const std::string &name="wrapper", Stage::pointer &&child=Stage::pointer())

Stage *	wrapped ()
	access the single wrapped child, NULL if still empty

const Stage *	wrapped () const

Protected Member Functions inherited from moveit::task_constructor::ParallelContainerBase
	ParallelContainerBase (ParallelContainerBasePrivate *impl)

void	liftSolution (const SolutionBase &solution)
	lift unmodified child solution (useful for simple filtering)

void	liftSolution (const SolutionBase &solution, double cost)
	lift child solution to external interface, adapting the costs

void	liftSolution (const SolutionBase &solution, double cost, std::string comment)
	lift child solution to external interface, adapting the costs and comment

void	spawn (InterfaceState &&state, SubTrajectory &&trajectory)
	spawn a new solution with given state as start and end

void	sendForward (const InterfaceState &from, InterfaceState &&to, SubTrajectory &&trajectory)
	propagate a solution forwards

void	sendBackward (InterfaceState &&from, const InterfaceState &to, SubTrajectory &&trajectory)
	propagate a solution backwards

	ParallelContainerBase (const std::string &name="parallel container")

Protected Member Functions inherited from moveit::task_constructor::ContainerBase
	ContainerBase (ContainerBasePrivate *impl)

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 Stage::pointer	remove (int pos)

virtual Stage::pointer	remove (Stage *child)

void	init (const moveit::core::RobotModelConstPtr &robot_model) override

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.

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

Additional Inherited Members
Protected Types inherited from moveit::task_constructor::ContainerBase
using	pointer = std::unique_ptr< ContainerBase >

using	StageCallback = std::function< bool(const Stage &, unsigned int)>

Protected 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 >

Protected Attributes inherited from moveit::task_constructor::Stage
StagePrivate *	pimpl_

Detailed Description

A Task is the root of a tree of stages.

Actually a tasks wraps a single container (by default a SerialContainer), which serves as the root of all stages.

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

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

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description