#include <container.h>
Inheritance diagram for moveit::task_constructor::WrapperBase:
Collaboration diagram for moveit::task_constructor::WrapperBase:
Public Member Functions | |
| WrapperBase (const std::string &name="wrapper", Stage::pointer &&child=Stage::pointer()) | |
| void | insert (Stage::pointer &&stage, int before=-1) override |
| insertion is only allowed if children() is empty | |
| Stage * | wrapped () |
| access the single wrapped child, NULL if still empty | |
| const Stage * | wrapped () const |
| bool | canCompute () const override |
| void | compute () override |
 Public Member Functions inherited from moveit::task_constructor::ParallelContainerBase | |
| ParallelContainerBase (const std::string &name="parallel container") | |
| Public Member Functions inherited from moveit::task_constructor::ContainerBase | |
| 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) |
| virtual void | clear () |
| void | reset () override |
| reset stage, clearing all solutions, interfaces, inherited properties. | |
| void | init (const moveit::core::RobotModelConstPtr &robot_model) override |
| void | explainFailure (std::ostream &os) const override |
| virtual void | onNewSolution (const SolutionBase &s)=0 |
| called by a (direct) child when a new solution becomes available | |
| Public Member Functions inherited from moveit::task_constructor::Stage | |
| 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 |
Protected Member Functions | |
| WrapperBase (WrapperBasePrivate *impl, Stage::pointer &&child=Stage::pointer()) | |
| 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 | |
| Protected Member Functions inherited from moveit::task_constructor::ContainerBase | |
| ContainerBase (ContainerBasePrivate *impl) | |
| 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 | |
| Public Types inherited from moveit::task_constructor::ContainerBase | |
| using | pointer = std::unique_ptr< ContainerBase > |
| using | StageCallback = std::function< bool(const Stage &, unsigned int)> |
| 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 > |
| Protected Attributes inherited from moveit::task_constructor::Stage | |
| StagePrivate * | pimpl_ |
Detailed Description
A wrapper wraps a single child stage, which can be accessed via wrapped().
Implementations of this interface need to implement onNewSolution(), which is called when the child has generated a new solution. The wrapper may reject the solution or create one or multiple derived solutions, potentially adapting the cost, as well as its start and end states.
The documentation for this class was generated from the following files:
- /__w/moveit_task_constructor/moveit_task_constructor/core/include/moveit/task_constructor/container.h
- /__w/moveit_task_constructor/moveit_task_constructor/core/src/container.cpp
