#include <container.h>

Inheritance diagram for moveit::task_constructor::ContainerBase:

[legend]

Public Types
using	pointer = std::unique_ptr< ContainerBase >

using	StageCallback = std::function< bool(const Stage &, unsigned int)>

Public Types inherited from moveit::task_constructor::Stage
using	pointer = std::unique_ptr< Stage >

enum	PropertyInitializerSource : uint8_t { DEFAULT = 0, MANUAL = 1, PARENT = 2, INTERFACE = 4 }

using	SolutionCallback = std::function< void(const SolutionBase &)>

using	SolutionCallbackList = std::list< SolutionCallback >

Public Member Functions
void	add (Stage::pointer &&stage)

virtual bool	canCompute () const =0

virtual void	clear ()

virtual void	compute ()=0

bool	explainFailure (std::ostream &os) const override

Stage *	findChild (const std::string &name) const

void	init (const moveit::core::RobotModelConstPtr &robot_model) override

virtual void	insert (Stage::pointer &&stage, int before=-1)

size_t	numChildren () const

virtual void	onNewSolution (const SolutionBase &s)=0
	called by a (direct) child when a new solution becomes available More...

Stage *	operator[] (int index) const

bool	pruning () const

virtual Stage::pointer	remove (int pos)

virtual Stage::pointer	remove (Stage *child)

void	reset () override
	reset stage, clearing all solutions, interfaces, inherited properties. More...

void	setPruning (bool pruning)
	Explicitly enable/disable pruning. More...

bool	traverseChildren (const StageCallback &processor) const
	traverse direct children of this container, calling the callback for each of them More...

bool	traverseRecursively (const StageCallback &processor) const
	traverse all children of this container recursively More...

Public Member Functions inherited from moveit::task_constructor::Stage
SolutionCallbackList::const_iterator	addSolutionCallback (SolutionCallback &&cb)
	add function to be called for every newly found solution or failure More...

const std::list< SolutionBaseConstPtr > &	failures () const

std::set< std::string >	forwardedProperties () const

void	forwardProperties (const InterfaceState &source, InterfaceState &dest)
	forwarding of properties between interface states More...

double	getTotalComputeTime () const

Introspection *	introspection () const

uint32_t	introspectionId () const

const std::string &	markerNS ()
	marker namespace of solution markers More...

const std::string &	name () const

size_t	numFailures () const

const ContainerBase *	parent () const

PropertyMap &	properties ()
	Get the stage's property map. More...

const PropertyMap &	properties () const

void	removeSolutionCallback (SolutionCallbackList::const_iterator which)
	remove function callback More...

void	reportPropertyError (const Property::error &e)
	Analyze source of error and report accordingly. More...

void	setCostTerm (const CostTermConstPtr &term)

template<typename T , typename = std::enable_if_t<std::is_constructible<LambdaCostTerm, T>::value>>
void	setCostTerm (T term)

void	setForwardedProperties (const std::set< std::string > &names)

void	setMarkerNS (const std::string &marker_ns)

void	setName (const std::string &name)

void	setProperty (const std::string &name, const boost::any &value)
	Set a previously declared property to a new value. More...

void	setProperty (const std::string &name, const char *value)
	overload: const char* values are stored as std::string More...

void	setTimeout (double timeout)

void	setTrajectoryExecutionInfo (TrajectoryExecutionInfo trajectory_execution_info)
	Set and get info to use when executing the stage's trajectory. More...

void	silentFailure ()
	Call to increase number of failures w/o storing a (failure) trajectory. More...

const ordered< SolutionBaseConstPtr > &	solutions () const

bool	storeFailures () const
	Should we generate failure solutions? Note: Always report a failure! More...

double	timeout () const
	timeout of stage per computation More...

TrajectoryExecutionInfo	trajectoryExecutionInfo () const

virtual	~Stage ()

Protected Member Functions
	ContainerBase (ContainerBasePrivate *impl)

Protected Member Functions inherited from moveit::task_constructor::Stage
	Stage (const Stage &)=delete
	Stage cannot be copied. More...

	Stage (StagePrivate *impl)
	Stage can only be instantiated through derived classes. More...

Additional Inherited Members
Protected Attributes inherited from moveit::task_constructor::Stage
StagePrivate *	pimpl_

Detailed Description

Base class for all container stages, i.e. ones that have one or more children

Definition at line 112 of file container.h.

Member Typedef Documentation

◆ pointer

using moveit::task_constructor::ContainerBase::pointer = std::unique_ptr<ContainerBase>

Definition at line 116 of file container.h.

◆ StageCallback

using moveit::task_constructor::ContainerBase::StageCallback = std::function<bool(const Stage&, unsigned int)>

Callback function type used by traverse functions Receives currently visited Stage and current depth in hierarchy If callback returns false, traversal is stopped.

Definition at line 129 of file container.h.

Constructor & Destructor Documentation

◆ ContainerBase()

moveit::task_constructor::ContainerBase::ContainerBase ( ContainerBasePrivate * impl )

protected

Member Function Documentation

◆ add()

void moveit::task_constructor::ContainerBase::add ( Stage::pointer && stage )

◆ canCompute()

virtual bool moveit::task_constructor::ContainerBase::canCompute ( ) const

pure virtual

Implemented in moveit::task_constructor::WrapperBase, moveit::task_constructor::Merger, moveit::task_constructor::Alternatives, moveit::task_constructor::SerialContainer, moveit::task_constructor::Task, moveit::task_constructor::stages::ComputeIK, and moveit::task_constructor::Fallbacks.

◆ clear()

virtual void moveit::task_constructor::ContainerBase::clear ( )

virtual

Reimplemented in moveit::task_constructor::Task.

◆ compute()

virtual void moveit::task_constructor::ContainerBase::compute ( )

pure virtual

Implemented in moveit::task_constructor::WrapperBase, moveit::task_constructor::Merger, moveit::task_constructor::Alternatives, moveit::task_constructor::SerialContainer, moveit::task_constructor::Task, moveit::task_constructor::stages::ComputeIK, and moveit::task_constructor::Fallbacks.

◆ explainFailure()

bool moveit::task_constructor::ContainerBase::explainFailure ( std::ostream & os ) const

overridevirtual

Reimplemented from moveit::task_constructor::Stage.

Reimplemented in moveit::task_constructor::Task.

◆ findChild()

Stage* moveit::task_constructor::ContainerBase::findChild ( const std::string & name ) const

◆ init()

void moveit::task_constructor::ContainerBase::init ( const moveit::core::RobotModelConstPtr & robot_model )

overridevirtual

initialize stage once before planning

When called, properties configured for initialization from parent are already defined. Push interfaces are not yet defined!

Reimplemented from moveit::task_constructor::Stage.

Reimplemented in moveit::task_constructor::Fallbacks, moveit::task_constructor::stages::PickPlaceBase, moveit::task_constructor::stages::SimpleGraspBase, and moveit::task_constructor::stages::PredicateFilter.

◆ insert()

virtual void moveit::task_constructor::ContainerBase::insert	(	Stage::pointer &&	stage,
		int	before = `-1`
	)

virtual

Reimplemented in moveit::task_constructor::WrapperBase, and moveit::task_constructor::Task.

◆ numChildren()

size_t moveit::task_constructor::ContainerBase::numChildren ( ) const

◆ onNewSolution()

virtual void moveit::task_constructor::ContainerBase::onNewSolution ( const SolutionBase & s )

pure virtual

called by a (direct) child when a new solution becomes available

Implemented in moveit::task_constructor::Merger, moveit::task_constructor::Fallbacks, moveit::task_constructor::Alternatives, moveit::task_constructor::stages::PassThrough, moveit::task_constructor::SerialContainer, moveit::task_constructor::Task, moveit::task_constructor::stages::ComputeIK, and moveit::task_constructor::stages::PredicateFilter.

◆ operator[]()

Stage* moveit::task_constructor::ContainerBase::operator[] ( int index ) const

◆ pruning()

bool moveit::task_constructor::ContainerBase::pruning ( ) const

inline

Definition at line 120 of file container.h.

◆ remove() [1/2]

virtual Stage::pointer moveit::task_constructor::ContainerBase::remove ( int pos )

virtual

◆ remove() [2/2]

virtual Stage::pointer moveit::task_constructor::ContainerBase::remove ( Stage * child )

virtual

◆ reset()

void moveit::task_constructor::ContainerBase::reset ( )

overridevirtual

reset stage, clearing all solutions, interfaces, inherited properties.

Reimplemented from moveit::task_constructor::Stage.

Reimplemented in moveit::task_constructor::Merger, moveit::task_constructor::Fallbacks, moveit::task_constructor::stages::ComputeIK, and moveit::task_constructor::Task.

◆ setPruning()

void moveit::task_constructor::ContainerBase::setPruning ( bool pruning )

inline

Explicitly enable/disable pruning.

Definition at line 119 of file container.h.

◆ traverseChildren()

bool moveit::task_constructor::ContainerBase::traverseChildren ( const StageCallback & processor ) const

traverse direct children of this container, calling the callback for each of them

◆ traverseRecursively()

bool moveit::task_constructor::ContainerBase::traverseRecursively ( const StageCallback & processor ) const

traverse all children of this container recursively

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

container.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ pointer

◆ StageCallback

Constructor & Destructor Documentation

◆ ContainerBase()

Member Function Documentation

◆ add()

◆ canCompute()

◆ clear()

◆ compute()

◆ explainFailure()

◆ findChild()

◆ init()

◆ insert()

◆ numChildren()

◆ onNewSolution()

◆ operator[]()

◆ pruning()

◆ remove() [1/2]

◆ remove() [2/2]

◆ reset()

◆ setPruning()

◆ traverseChildren()

◆ traverseRecursively()