limit_solutions.h

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/* Authors: Joseph Moore */
 
#pragma once
 
#include <moveit/task_constructor/container.h>
 
namespace moveit {
namespace task_constructor {
namespace stages {
 
class LimitSolutions : public WrapperBase
{
public:
    LimitSolutions(const std::string& name = "LimitSolutions", Stage::pointer&& child = Stage::pointer());
 
    void reset() override;
    bool canCompute() const override;
    void compute() override;
    void onNewSolution(const SolutionBase& s) override;
 
    void setMaxSolutions(uint32_t max_solutions) { setProperty("max_solutions", max_solutions); }
 
private:
    ordered<const SolutionBase*> upstream_solutions_;
    uint32_t forwarded_solutions;
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit