MTC
task_p.h
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34 
35 /* Authors: Robert Haschke
36  Desc: Private API of class Task
37 */
38 
39 #pragma once
40 
41 #include <moveit/task_constructor/container_p.h>
42 #include <moveit/task_constructor/task.h>
43 
44 namespace robot_model_loader {
45 MOVEIT_CLASS_FORWARD(RobotModelLoader);
46 }
47 
48 namespace moveit {
49 namespace task_constructor {
50 
51 class TaskPrivate : public WrapperBasePrivate
52 {
53  friend class Task;
54  TaskPrivate& operator=(TaskPrivate&& other);
55 
56 public:
57  TaskPrivate(Task* me, const std::string& ns);
58 
59  const std::string& ns() const { return ns_; }
60  const ContainerBase* stages() const;
61 
62 private:
63  std::string ns_;
64  robot_model_loader::RobotModelLoaderPtr robot_model_loader_;
65  moveit::core::RobotModelConstPtr robot_model_;
66  std::atomic<bool> preempt_requested_;
67 
68  // introspection and monitoring
69  std::unique_ptr<Introspection> introspection_;
70  std::list<Task::TaskCallback> task_cbs_; // functions to monitor task's planning progress
71 };
72 PIMPL_FUNCTIONS(Task)
73 } // namespace task_constructor
74 } // namespace moveit