#include <stage.h>

Inheritance diagram for moveit::task_constructor::Stage:

[legend]

Public Types
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
SolutionCallbackList::const_iterator	addSolutionCallback (SolutionCallback &&cb)
	add function to be called for every newly found solution or failure More...

virtual bool	explainFailure (std::ostream &) const

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

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

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...

virtual void	reset ()
	reset stage, clearing all solutions, interfaces, inherited properties. 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
	Stage (const Stage &)=delete
	Stage cannot be copied. More...

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

Protected Attributes
StagePrivate *	pimpl_

Detailed Description

Definition at line 146 of file stage.h.

Member Typedef Documentation

◆ pointer

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

Definition at line 150 of file stage.h.

◆ SolutionCallback

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

Definition at line 221 of file stage.h.

◆ SolutionCallbackList

using moveit::task_constructor::Stage::SolutionCallbackList = std::list<SolutionCallback>

Definition at line 222 of file stage.h.

Member Enumeration Documentation

◆ PropertyInitializerSource

enum moveit::task_constructor::Stage::PropertyInitializerSource : uint8_t

Names for property initialization sources

INTERFACE allows to pass properties from one stage to the next (in a SerialContainer).
PARENT allows to inherit properties from the parent.

INTERFACE takes precedence over PARENT.

Enumerator
DEFAULT
MANUAL
PARENT
INTERFACE

Definition at line 158 of file stage.h.

Constructor & Destructor Documentation

◆ ~Stage()

moveit::task_constructor::Stage::~Stage ( )

virtual

Definition at line 387 of file stage.cpp.

◆ Stage() [1/2]

moveit::task_constructor::Stage::Stage ( StagePrivate * impl )

protected

Stage can only be instantiated through derived classes.

Definition at line 375 of file stage.cpp.

◆ Stage() [2/2]

moveit::task_constructor::Stage::Stage ( const Stage & )

protecteddelete

Stage cannot be copied.

Member Function Documentation

◆ addSolutionCallback()

Stage::SolutionCallbackList::const_iterator moveit::task_constructor::Stage::addSolutionCallback ( SolutionCallback && cb )

add function to be called for every newly found solution or failure

Definition at line 469 of file stage.cpp.

◆ explainFailure()

virtual bool moveit::task_constructor::Stage::explainFailure ( std::ostream & ) const

inlinevirtual

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

Definition at line 245 of file stage.h.

◆ failures()

const std::list< SolutionBaseConstPtr > & moveit::task_constructor::Stage::failures ( ) const

Definition at line 489 of file stage.cpp.

◆ forwardedProperties()

std::set<std::string> moveit::task_constructor::Stage::forwardedProperties ( ) const

inline

Definition at line 216 of file stage.h.

◆ forwardProperties()

void moveit::task_constructor::Stage::forwardProperties	(	const InterfaceState &	source,
		InterfaceState &	dest
	)

forwarding of properties between interface states

Definition at line 459 of file stage.cpp.

◆ getTotalComputeTime()

double moveit::task_constructor::Stage::getTotalComputeTime ( ) const

Definition at line 513 of file stage.cpp.

◆ init()

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

virtual

initialize stage once before planning

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

Reimplemented in moveit::task_constructor::MonitoringGenerator, moveit::task_constructor::Fallbacks, moveit::task_constructor::stages::CurrentState, moveit::task_constructor::ContainerBase, moveit::task_constructor::stages::PickPlaceBase, moveit::task_constructor::stages::Connect, moveit::task_constructor::stages::SimpleGraspBase, moveit::task_constructor::stages::MoveRelative, moveit::task_constructor::stages::PredicateFilter, and moveit::task_constructor::stages::MoveTo.

Definition at line 419 of file stage.cpp.

◆ introspection()

Introspection * moveit::task_constructor::Stage::introspection ( ) const

Definition at line 455 of file stage.cpp.

◆ introspectionId()

uint32_t moveit::task_constructor::Stage::introspectionId ( ) const

Definition at line 450 of file stage.cpp.

◆ markerNS()

const std::string& moveit::task_constructor::Stage::markerNS ( )

inline

marker namespace of solution markers

Definition at line 204 of file stage.h.

◆ name()

const std::string & moveit::task_constructor::Stage::name ( ) const

Definition at line 442 of file stage.cpp.

◆ numFailures()

size_t moveit::task_constructor::Stage::numFailures ( ) const

Definition at line 493 of file stage.cpp.

◆ parent()

const ContainerBase * moveit::task_constructor::Stage::parent ( ) const

Definition at line 438 of file stage.cpp.

◆ properties() [1/2]

PropertyMap & moveit::task_constructor::Stage::properties ( )

Get the stage's property map.

Definition at line 505 of file stage.cpp.

◆ properties() [2/2]

const PropertyMap& moveit::task_constructor::Stage::properties ( ) const

inline

Definition at line 249 of file stage.h.

◆ removeSolutionCallback()

void moveit::task_constructor::Stage::removeSolutionCallback ( SolutionCallbackList::const_iterator which )

remove function callback

Definition at line 474 of file stage.cpp.

◆ reportPropertyError()

void moveit::task_constructor::Stage::reportPropertyError ( const Property::error & e )

Analyze source of error and report accordingly.

Definition at line 540 of file stage.cpp.

◆ reset()

void moveit::task_constructor::Stage::reset ( )

virtual

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

Reimplemented in moveit::task_constructor::Connecting, moveit::task_constructor::Merger, moveit::task_constructor::Fallbacks, moveit::task_constructor::stages::FixedState, moveit::task_constructor::stages::FixedCartesianPoses, moveit::task_constructor::stages::GeneratePose, moveit::task_constructor::ContainerBase, moveit::task_constructor::stages::Connect, moveit::task_constructor::stages::ComputeIK, and moveit::task_constructor::Task.

Definition at line 399 of file stage.cpp.

◆ setCostTerm() [1/2]

void moveit::task_constructor::Stage::setCostTerm ( const CostTermConstPtr & term )

set method to determine costs for solutions of this stage

Definition at line 478 of file stage.cpp.

◆ setCostTerm() [2/2]

template<typename T , typename = std::enable_if_t<std::is_constructible<LambdaCostTerm, T>::value>>

void moveit::task_constructor::Stage::setCostTerm ( T term )

inline

Definition at line 233 of file stage.h.

◆ setForwardedProperties()

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

inline

Definition at line 219 of file stage.h.

◆ setMarkerNS()

void moveit::task_constructor::Stage::setMarkerNS ( const std::string & marker_ns )

inline

set marker namespace for solutions

Auxiliary markers in this stage should use this namespace

Definition at line 202 of file stage.h.

◆ setName()

void moveit::task_constructor::Stage::setName ( const std::string & name )

Definition at line 446 of file stage.cpp.

◆ setProperty() [1/2]

void moveit::task_constructor::Stage::setProperty	(	const std::string &	name,
		const boost::any &	value
	)

Set a previously declared property to a new value.

Definition at line 509 of file stage.cpp.

◆ setProperty() [2/2]

void moveit::task_constructor::Stage::setProperty	(	const std::string &	name,
		const char *	value
	)

inline

overload: const char* values are stored as std::string

Definition at line 253 of file stage.h.

◆ setTimeout()

void moveit::task_constructor::Stage::setTimeout ( double timeout )

inline

set computation timeout (in seconds)

The logic of the individual stage should ensure this limit is respected.

Definition at line 194 of file stage.h.

◆ setTrajectoryExecutionInfo()

void moveit::task_constructor::Stage::setTrajectoryExecutionInfo ( TrajectoryExecutionInfo trajectory_execution_info )

inline

Set and get info to use when executing the stage's trajectory.

Definition at line 207 of file stage.h.

◆ silentFailure()

void moveit::task_constructor::Stage::silentFailure ( )

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

Definition at line 497 of file stage.cpp.

◆ solutions()

const ordered< SolutionBaseConstPtr > & moveit::task_constructor::Stage::solutions ( ) const

Definition at line 485 of file stage.cpp.

◆ storeFailures()

bool moveit::task_constructor::Stage::storeFailures ( ) const

Should we generate failure solutions? Note: Always report a failure!

Definition at line 501 of file stage.cpp.

◆ timeout()

double moveit::task_constructor::Stage::timeout ( ) const

inline

timeout of stage per computation

Definition at line 196 of file stage.h.

◆ trajectoryExecutionInfo()

TrajectoryExecutionInfo moveit::task_constructor::Stage::trajectoryExecutionInfo ( ) const

inline

Definition at line 210 of file stage.h.

Member Data Documentation

◆ pimpl_

StagePrivate* moveit::task_constructor::Stage::pimpl_

protected

Definition at line 267 of file stage.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ pointer

◆ SolutionCallback

◆ SolutionCallbackList

Member Enumeration Documentation

◆ PropertyInitializerSource

Constructor & Destructor Documentation

◆ ~Stage()

◆ Stage() [1/2]

◆ Stage() [2/2]

Member Function Documentation

◆ addSolutionCallback()

◆ explainFailure()

◆ failures()

◆ forwardedProperties()

◆ forwardProperties()

◆ getTotalComputeTime()

◆ init()

◆ introspection()

◆ introspectionId()

◆ markerNS()

◆ name()

◆ numFailures()

◆ parent()

◆ properties() [1/2]

◆ properties() [2/2]

◆ removeSolutionCallback()

◆ reportPropertyError()

◆ reset()

◆ setCostTerm() [1/2]

◆ setCostTerm() [2/2]

◆ setForwardedProperties()

◆ setMarkerNS()

◆ setName()

◆ setProperty() [1/2]

◆ setProperty() [2/2]

◆ setTimeout()

◆ setTrajectoryExecutionInfo()

◆ silentFailure()

◆ solutions()

◆ storeFailures()

◆ timeout()

◆ trajectoryExecutionInfo()

Member Data Documentation

◆ pimpl_