manipulation_pipeline.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PICK_PLACE_MANIPULATION_PIPELINE_
00038 #define MOVEIT_PICK_PLACE_MANIPULATION_PIPELINE_
00039 
00040 #include <moveit/pick_place/manipulation_stage.h>
00041 #include <boost/thread.hpp>
00042 #include <boost/shared_ptr.hpp>
00043 #include <boost/function.hpp>
00044 #include <vector>
00045 #include <deque>
00046 
00047 namespace pick_place
00048 {
00050 class ManipulationPipeline
00051 {
00052 public:
00053   ManipulationPipeline(const std::string& name, unsigned int nthreads);
00054   virtual ~ManipulationPipeline();
00055 
00056   const std::string& getName() const
00057   {
00058     return name_;
00059   }
00060 
00061   void setSolutionCallback(const boost::function<void()>& callback)
00062   {
00063     solution_callback_ = callback;
00064   }
00065 
00066   void setEmptyQueueCallback(const boost::function<void()>& callback)
00067   {
00068     empty_queue_callback_ = callback;
00069   }
00070 
00071   ManipulationPipeline& addStage(const ManipulationStagePtr& next);
00072   const ManipulationStagePtr& getFirstStage() const;
00073   const ManipulationStagePtr& getLastStage() const;
00074   void reset();
00075 
00076   void setVerbose(bool flag);
00077 
00078   void signalStop();
00079   void start();
00080   void stop();
00081 
00082   void push(const ManipulationPlanPtr& grasp);
00083   void clear();
00084 
00085   const std::vector<ManipulationPlanPtr>& getSuccessfulManipulationPlans() const
00086   {
00087     return success_;
00088   }
00089 
00090   const std::vector<ManipulationPlanPtr>& getFailedManipulationPlans() const
00091   {
00092     return failed_;
00093   }
00094 
00095   void reprocessLastFailure();
00096 
00097 protected:
00098   void processingThread(unsigned int index);
00099 
00100   std::string name_;
00101   unsigned int nthreads_;
00102   bool verbose_;
00103   std::vector<ManipulationStagePtr> stages_;
00104 
00105   std::deque<ManipulationPlanPtr> queue_;
00106   std::vector<ManipulationPlanPtr> success_;
00107   std::vector<ManipulationPlanPtr> failed_;
00108 
00109   std::vector<boost::thread*> processing_threads_;
00110   boost::condition_variable queue_access_cond_;
00111   boost::mutex queue_access_lock_;
00112   boost::mutex result_lock_;
00113 
00114   boost::function<void()> solution_callback_;
00115   boost::function<void()> empty_queue_callback_;
00116   unsigned int empty_queue_threads_;
00117 
00118   bool stop_processing_;
00119 };
00120 }
00121 
00122 #endif


manipulation
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:24:40