manipulation_stage.h
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00034 
00035 /* Author: Ioan Sucan, Sachin Chitta */
00036 
00037 #ifndef MOVEIT_PICK_PLACE_MANIPULATION_STAGE_
00038 #define MOVEIT_PICK_PLACE_MANIPULATION_STAGE_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/pick_place/manipulation_plan.h>
00042 #include <string>
00043 
00044 namespace pick_place
00045 {
00046 MOVEIT_CLASS_FORWARD(ManipulationStage);
00047 
00048 class ManipulationStage
00049 {
00050 public:
00051   ManipulationStage(const std::string& name) : name_(name), signal_stop_(false), verbose_(false)
00052   {
00053   }
00054 
00055   virtual ~ManipulationStage()
00056   {
00057   }
00058 
00059   const std::string& getName() const
00060   {
00061     return name_;
00062   }
00063 
00064   void setVerbose(bool flag)
00065   {
00066     verbose_ = flag;
00067   }
00068 
00069   virtual void resetStopSignal()
00070   {
00071     signal_stop_ = false;
00072   }
00073 
00074   virtual void signalStop()
00075   {
00076     signal_stop_ = true;
00077   }
00078 
00079   virtual bool evaluate(const ManipulationPlanPtr& plan) const = 0;
00080 
00081 protected:
00082   std::string name_;
00083   bool signal_stop_;
00084   bool verbose_;
00085 };
00086 }
00087 
00088 #endif


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