pick_place::ManipulationPipeline Class Reference

Represent the sequence of steps that are executed for a manipulation plan. More...

#include <manipulation_pipeline.h>

Public Member Functions
ManipulationPipeline &	addStage (const ManipulationStagePtr &next)
void	clear ()
const std::vector< ManipulationPlanPtr > &	getFailedManipulationPlans () const
const ManipulationStagePtr &	getFirstStage () const
const ManipulationStagePtr &	getLastStage () const
const std::string &	getName () const
const std::vector< ManipulationPlanPtr > &	getSuccessfulManipulationPlans () const
	ManipulationPipeline (const std::string &name, unsigned int nthreads)
void	push (const ManipulationPlanPtr &grasp)
void	reprocessLastFailure ()
void	reset ()
void	setEmptyQueueCallback (const boost::function< void()> &callback)
void	setSolutionCallback (const boost::function< void()> &callback)
void	setVerbose (bool flag)
void	signalStop ()
void	start ()
void	stop ()
virtual	~ManipulationPipeline ()

Protected Member Functions
void	processingThread (unsigned int index)

Protected Attributes
boost::function< void()>	empty_queue_callback_
unsigned int	empty_queue_threads_
std::vector< ManipulationPlanPtr >	failed_
std::string	name_
unsigned int	nthreads_
std::vector< boost::thread * >	processing_threads_
std::deque< ManipulationPlanPtr >	queue_
boost::condition_variable	queue_access_cond_
boost::mutex	queue_access_lock_
boost::mutex	result_lock_
boost::function< void()>	solution_callback_
std::vector< ManipulationStagePtr >	stages_
bool	stop_processing_
std::vector< ManipulationPlanPtr >	success_
bool	verbose_

Detailed Description

Represent the sequence of steps that are executed for a manipulation plan.

Definition at line 50 of file manipulation_pipeline.h.

Constructor & Destructor Documentation

pick_place::ManipulationPipeline::ManipulationPipeline	(	const std::string &	name,
		unsigned int	nthreads
	)

Definition at line 42 of file manipulation_pipeline.cpp.

pick_place::ManipulationPipeline::~ManipulationPipeline ( )

virtual

Definition at line 48 of file manipulation_pipeline.cpp.

Member Function Documentation

ManipulationPipeline & pick_place::ManipulationPipeline::addStage

(

const ManipulationStagePtr &

next

)

Definition at line 53 of file manipulation_pipeline.cpp.

void pick_place::ManipulationPipeline::clear

(

void

)

Definition at line 95 of file manipulation_pipeline.cpp.

const std::vector<ManipulationPlanPtr>& pick_place::ManipulationPipeline::getFailedManipulationPlans ( ) const

inline

Definition at line 90 of file manipulation_pipeline.h.

const ManipulationStagePtr & pick_place::ManipulationPipeline::getFirstStage

(

)

const

Definition at line 60 of file manipulation_pipeline.cpp.

const ManipulationStagePtr & pick_place::ManipulationPipeline::getLastStage

(

)

const

Definition at line 71 of file manipulation_pipeline.cpp.

const std::string& pick_place::ManipulationPipeline::getName ( ) const

inline

Definition at line 56 of file manipulation_pipeline.h.

const std::vector<ManipulationPlanPtr>& pick_place::ManipulationPipeline::getSuccessfulManipulationPlans ( ) const

inline

Definition at line 85 of file manipulation_pipeline.h.

void pick_place::ManipulationPipeline::processingThread ( unsigned int  index )

protected

Definition at line 140 of file manipulation_pipeline.cpp.

void pick_place::ManipulationPipeline::push

(

const ManipulationPlanPtr &

grasp

)

Definition at line 208 of file manipulation_pipeline.cpp.

void pick_place::ManipulationPipeline::reprocessLastFailure

(

)

Definition at line 217 of file manipulation_pipeline.cpp.

void pick_place::ManipulationPipeline::reset

(

)

Definition at line 82 of file manipulation_pipeline.cpp.

void pick_place::ManipulationPipeline::setEmptyQueueCallback ( const boost::function< void()> &  callback )

inline

Definition at line 66 of file manipulation_pipeline.h.

void pick_place::ManipulationPipeline::setSolutionCallback ( const boost::function< void()> &  callback )

inline

Definition at line 61 of file manipulation_pipeline.h.

void pick_place::ManipulationPipeline::setVerbose

(

bool

flag

)

Definition at line 88 of file manipulation_pipeline.cpp.

void pick_place::ManipulationPipeline::signalStop

(

)

Definition at line 120 of file manipulation_pipeline.cpp.

void pick_place::ManipulationPipeline::start

(

void

)

Definition at line 109 of file manipulation_pipeline.cpp.

void pick_place::ManipulationPipeline::stop

(

void

)

Definition at line 128 of file manipulation_pipeline.cpp.

Member Data Documentation

boost::function<void()> pick_place::ManipulationPipeline::empty_queue_callback_

protected

Definition at line 115 of file manipulation_pipeline.h.

unsigned int pick_place::ManipulationPipeline::empty_queue_threads_

protected

Definition at line 116 of file manipulation_pipeline.h.

std::vector<ManipulationPlanPtr> pick_place::ManipulationPipeline::failed_

protected

Definition at line 107 of file manipulation_pipeline.h.

std::string pick_place::ManipulationPipeline::name_

protected

Definition at line 100 of file manipulation_pipeline.h.

unsigned int pick_place::ManipulationPipeline::nthreads_

protected

Definition at line 101 of file manipulation_pipeline.h.

std::vector<boost::thread*> pick_place::ManipulationPipeline::processing_threads_

protected

Definition at line 109 of file manipulation_pipeline.h.

std::deque<ManipulationPlanPtr> pick_place::ManipulationPipeline::queue_

protected

Definition at line 105 of file manipulation_pipeline.h.

boost::condition_variable pick_place::ManipulationPipeline::queue_access_cond_

protected

Definition at line 110 of file manipulation_pipeline.h.

boost::mutex pick_place::ManipulationPipeline::queue_access_lock_

protected

Definition at line 111 of file manipulation_pipeline.h.

boost::mutex pick_place::ManipulationPipeline::result_lock_

protected

Definition at line 112 of file manipulation_pipeline.h.

boost::function<void()> pick_place::ManipulationPipeline::solution_callback_

protected

Definition at line 114 of file manipulation_pipeline.h.

std::vector<ManipulationStagePtr> pick_place::ManipulationPipeline::stages_

protected

Definition at line 103 of file manipulation_pipeline.h.

bool pick_place::ManipulationPipeline::stop_processing_

protected

Definition at line 118 of file manipulation_pipeline.h.

std::vector<ManipulationPlanPtr> pick_place::ManipulationPipeline::success_

protected

Definition at line 106 of file manipulation_pipeline.h.

bool pick_place::ManipulationPipeline::verbose_

protected

Definition at line 102 of file manipulation_pipeline.h.

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The documentation for this class was generated from the following files:

• manipulation_pipeline.h
• manipulation_pipeline.cpp