41 #include <moveit/task_constructor/container_p.h>
42 #include <moveit/task_constructor/task.h>
44 namespace robot_model_loader {
45 MOVEIT_CLASS_FORWARD(RobotModelLoader);
49 namespace task_constructor {
51 class TaskPrivate :
public WrapperBasePrivate
54 TaskPrivate& operator=(TaskPrivate&& other);
57 TaskPrivate(Task* me,
const std::string& ns);
59 const std::string& ns()
const {
return ns_; }
60 const ContainerBase* stages()
const;
64 robot_model_loader::RobotModelLoaderPtr robot_model_loader_;
65 moveit::core::RobotModelConstPtr robot_model_;
66 std::atomic<bool> preempt_requested_;
69 std::unique_ptr<Introspection> introspection_;
70 std::list<Task::TaskCallback> task_cbs_;