#include <container.h>
Inheritance diagram for moveit::task_constructor::ParallelContainerBase:
Public Member Functions | |
| ParallelContainerBase (const std::string &name="parallel container") | |
 Public Member Functions inherited from moveit::task_constructor::ContainerBase | |
| 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 | |
| void | liftSolution (const SolutionBase &solution) |
| lift unmodified child solution (useful for simple filtering) More... | |
| void | liftSolution (const SolutionBase &solution, double cost) |
| lift child solution to external interface, adapting the costs More... | |
| void | liftSolution (const SolutionBase &solution, double cost, std::string comment) |
| lift child solution to external interface, adapting the costs and comment More... | |
| ParallelContainerBase (ParallelContainerBasePrivate *impl) | |
| void | sendBackward (InterfaceState &&from, const InterfaceState &to, SubTrajectory &&trajectory) |
| propagate a solution backwards More... | |
| void | sendForward (const InterfaceState &from, InterfaceState &&to, SubTrajectory &&trajectory) |
| propagate a solution forwards More... | |
| void | spawn (InterfaceState &&state, SubTrajectory &&trajectory) |
| spawn a new solution with given state as start and end More... | |
| Protected Member Functions inherited from moveit::task_constructor::ContainerBase | |
| 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 | |
| Public Types inherited from moveit::task_constructor::ContainerBase | |
| 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 > |
| Protected Attributes inherited from moveit::task_constructor::Stage | |
| StagePrivate * | pimpl_ |
Detailed Description
Parallel containers allow for alternative planning stages Parallel containers can come in different flavours:
- Alternatives: each child stage can contribute a solution
- Fallbacks: the children are considered in series
- Merger: solutions of all children (actuating disjoint groups) are merged into a single solution for parallel execution
Definition at line 183 of file container.h.
Constructor & Destructor Documentation
◆ ParallelContainerBase() [1/2]
| moveit::task_constructor::ParallelContainerBase::ParallelContainerBase | ( | const std::string & | name = "parallel container" | ) |
Definition at line 798 of file container.cpp.
◆ ParallelContainerBase() [2/2]
|
protected |
Definition at line 797 of file container.cpp.
Member Function Documentation
◆ liftSolution() [1/3]
|
inlineprotected |
lift unmodified child solution (useful for simple filtering)
Definition at line 193 of file container.h.
◆ liftSolution() [2/3]
|
inlineprotected |
lift child solution to external interface, adapting the costs
Definition at line 195 of file container.h.
◆ liftSolution() [3/3]
|
protected |
lift child solution to external interface, adapting the costs and comment
Definition at line 801 of file container.cpp.
◆ sendBackward()
|
protected |
propagate a solution backwards
Definition at line 814 of file container.cpp.
◆ sendForward()
|
protected |
propagate a solution forwards
Definition at line 810 of file container.cpp.
◆ spawn()
|
protected |
spawn a new solution with given state as start and end
Definition at line 806 of file container.cpp.
The documentation for this class was generated from the following files: