#include <task.h>

Inheritance diagram for moveit::task_constructor::Task:

[legend]

Public Types
using	TaskCallback = std::function< void(const Task &t)>

using	TaskCallbackList = std::list< TaskCallback >

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

TaskCallbackList::const_iterator	addTaskCallback (TaskCallback &&cb)
	add function to be called after each top-level iteration More...

void	clear () final

void	enableIntrospection (bool enable=true)
	enable introspection publishing for use with rviz More...

void	eraseTaskCallback (TaskCallbackList::const_iterator which)
	remove function callback More...

moveit::core::MoveItErrorCode	execute (const SolutionBase &s)
	execute solution, return the result More...

bool	explainFailure (std::ostream &os=std::cout) const override
	print an explanation for a planning failure to os More...

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

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

const moveit::core::RobotModelConstPtr &	getRobotModel () const

void	init ()
	initialize all stages with given scene More...

void	insert (Stage::pointer &&stage, int before=-1) override
	insertion is only allowed if children() is empty More...

Introspection &	introspection ()

void	loadRobotModel (const std::string &robot_description="robot_description")
	load robot model from given parameter More...

const std::string &	name () const

size_t	numSolutions () const

Task &	operator= (Task &&other)

Stage *	operator[] (int index) const

moveit::core::MoveItErrorCode	plan (size_t max_solutions=0)
	reset, init scene (if not yet done), and init all stages, then start planning More...

void	preempt ()
	interrupt current planning More...

void	printState (std::ostream &os=std::cout) const
	print current task state (number of found solutions and propagated states) to std::cout More...

PropertyMap &	properties ()
	properties access More...

const PropertyMap &	properties () const

void	publishAllSolutions (bool wait=true)
	publish all top-level solutions More...

void	reset () final
	reset all stages More...

void	resetPreemptRequest ()

void	setName (const std::string &name)

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

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

void	setRobotModel (const moveit::core::RobotModelConstPtr &robot_model)
	setting the robot model also resets the task More...

const ordered< SolutionBaseConstPtr > &	solutions () const

ContainerBase *	stages ()
	access stage tree More...

const ContainerBase *	stages () const

	Task (const std::string &ns="", bool introspection=true, ContainerBase::pointer &&container=std::make_unique< SerialContainer >("task pipeline"))

	Task (Task &&other)

	~Task () override

Protected Member Functions
bool	canCompute () const override

void	compute () override

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

Protected Member Functions inherited from moveit::task_constructor::WrapperBase
	WrapperBase (WrapperBasePrivate *impl, Stage::pointer &&child=Stage::pointer())

Stage *	wrapped ()
	access the single wrapped child, NULL if still empty More...

const Stage *	wrapped () const

	WrapperBase (const std::string &name="wrapper", Stage::pointer &&child=Stage::pointer())

Protected Member Functions inherited from moveit::task_constructor::ParallelContainerBase
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...

	ParallelContainerBase (const std::string &name="parallel container")

Protected Member Functions inherited from moveit::task_constructor::ContainerBase
	ContainerBase (ContainerBasePrivate *impl)

void	add (Stage::pointer &&stage)

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

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

size_t	numChildren () const

Stage *	operator[] (int index) const

bool	pruning () const

virtual Stage::pointer	remove (int pos)

virtual Stage::pointer	remove (Stage *child)

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...

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...

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 ()

Additional Inherited Members
Protected Types inherited from moveit::task_constructor::ContainerBase
using	pointer = std::unique_ptr< ContainerBase >

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

Protected 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

A Task is the root of a tree of stages.

Actually a tasks wraps a single container (by default a SerialContainer), which serves as the root of all stages.

Definition at line 72 of file task.h.

Member Typedef Documentation

◆ TaskCallback

using moveit::task_constructor::Task::TaskCallback = std::function<void(const Task& t)>

Definition at line 105 of file task.h.

◆ TaskCallbackList

using moveit::task_constructor::Task::TaskCallbackList = std::list<TaskCallback>

Definition at line 106 of file task.h.

Constructor & Destructor Documentation

◆ Task() [1/2]

moveit::task_constructor::Task::Task	(	const std::string &	ns = `""`,
		bool	introspection = `true`,
		ContainerBase::pointer &&	container = `std::make_unique<SerialContainer>("task pipeline")`
	)

Definition at line 95 of file task.cpp.

◆ Task() [2/2]

moveit::task_constructor::Task::Task ( Task && other )

Definition at line 107 of file task.cpp.

◆ ~Task()

moveit::task_constructor::Task::~Task ( )

override

Definition at line 118 of file task.cpp.

Member Function Documentation

◆ add()

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

Definition at line 146 of file task.cpp.

◆ addTaskCallback()

Task::TaskCallbackList::const_iterator moveit::task_constructor::Task::addTaskCallback ( TaskCallback && cb )

add function to be called after each top-level iteration

Definition at line 182 of file task.cpp.

◆ canCompute()

bool moveit::task_constructor::Task::canCompute ( ) const

overrideprotectedvirtual

Reimplemented from moveit::task_constructor::WrapperBase.

Definition at line 231 of file task.cpp.

◆ clear()

void moveit::task_constructor::Task::clear ( )

finalvirtual

Reimplemented from moveit::task_constructor::ContainerBase.

Definition at line 154 of file task.cpp.

◆ compute()

void moveit::task_constructor::Task::compute ( )

overrideprotectedvirtual

Reimplemented from moveit::task_constructor::WrapperBase.

Definition at line 235 of file task.cpp.

◆ enableIntrospection()

void moveit::task_constructor::Task::enableIntrospection ( bool enable = true )

enable introspection publishing for use with rviz

Definition at line 159 of file task.cpp.

◆ eraseTaskCallback()

void moveit::task_constructor::Task::eraseTaskCallback ( TaskCallbackList::const_iterator which )

remove function callback

Definition at line 188 of file task.cpp.

◆ execute()

moveit::core::MoveItErrorCode moveit::task_constructor::Task::execute ( const SolutionBase & s )

execute solution, return the result

Definition at line 282 of file task.cpp.

◆ explainFailure()

bool moveit::task_constructor::Task::explainFailure ( std::ostream & os = std::cout ) const

overridevirtual

print an explanation for a planning failure to os

Reimplemented from moveit::task_constructor::ContainerBase.

Definition at line 336 of file task.cpp.

◆ failures()

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

inline

Definition at line 144 of file task.h.

◆ findChild()

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

inline

Definition at line 88 of file task.h.

◆ getRobotModel()

const core::RobotModelConstPtr & moveit::task_constructor::Task::getRobotModel ( ) const

Definition at line 327 of file task.cpp.

◆ init()

void moveit::task_constructor::Task::init ( )

initialize all stages with given scene

Definition at line 201 of file task.cpp.

◆ insert()

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

overridevirtual

insertion is only allowed if children() is empty

Reimplemented from moveit::task_constructor::WrapperBase.

Definition at line 150 of file task.cpp.

◆ introspection()

Introspection & moveit::task_constructor::Task::introspection ( )

Definition at line 176 of file task.cpp.

◆ loadRobotModel()

void moveit::task_constructor::Task::loadRobotModel ( const std::string & robot_description = "robot_description" )

load robot model from given parameter

Definition at line 138 of file task.cpp.

◆ name()

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

inline

Definition at line 85 of file task.h.

◆ numSolutions()

size_t moveit::task_constructor::Task::numSolutions ( ) const

inline

Definition at line 142 of file task.h.

◆ onNewSolution()

void moveit::task_constructor::Task::onNewSolution ( const SolutionBase & s )

overrideprotectedvirtual

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

Implements moveit::task_constructor::ContainerBase.

Definition at line 302 of file task.cpp.

◆ operator=()

Task & moveit::task_constructor::Task::operator= ( Task && other )

Definition at line 112 of file task.cpp.

◆ operator[]()

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

inline

Definition at line 89 of file task.h.

◆ plan()

moveit::core::MoveItErrorCode moveit::task_constructor::Task::plan ( size_t max_solutions = 0 )

reset, init scene (if not yet done), and init all stages, then start planning

Definition at line 243 of file task.cpp.

◆ preempt()

void moveit::task_constructor::Task::preempt ( )

interrupt current planning

Definition at line 274 of file task.cpp.

◆ printState()

void moveit::task_constructor::Task::printState ( std::ostream & os = std::cout ) const

print current task state (number of found solutions and propagated states) to std::cout

Definition at line 332 of file task.cpp.

◆ properties() [1/2]

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

properties access

Definition at line 317 of file task.cpp.

◆ properties() [2/2]

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

inline

Definition at line 156 of file task.h.

◆ publishAllSolutions()

void moveit::task_constructor::Task::publishAllSolutions ( bool wait = true )

publish all top-level solutions

Definition at line 297 of file task.cpp.

◆ reset()

void moveit::task_constructor::Task::reset ( )

finalvirtual

reset all stages

Reimplemented from moveit::task_constructor::ContainerBase.

Definition at line 192 of file task.cpp.

◆ resetPreemptRequest()

void moveit::task_constructor::Task::resetPreemptRequest ( )

Definition at line 278 of file task.cpp.

◆ setName()

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

inline

Definition at line 86 of file task.h.

◆ setProperty() [1/2]

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

Definition at line 322 of file task.cpp.

◆ setProperty() [2/2]

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

inline

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

Definition at line 159 of file task.h.

◆ setRobotModel()

void moveit::task_constructor::Task::setRobotModel ( const moveit::core::RobotModelConstPtr & robot_model )

setting the robot model also resets the task

Definition at line 127 of file task.cpp.

◆ solutions()

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

inline

Definition at line 143 of file task.h.

◆ stages() [1/2]

const ContainerBase * moveit::task_constructor::Task::stages ( )

access stage tree

Definition at line 309 of file task.cpp.

◆ stages() [2/2]

const ContainerBase* moveit::task_constructor::Task::stages ( ) const

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

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ TaskCallback

◆ TaskCallbackList

Constructor & Destructor Documentation

◆ Task() [1/2]

◆ Task() [2/2]

◆ ~Task()

Member Function Documentation

◆ add()

◆ addTaskCallback()

◆ canCompute()

◆ clear()

◆ compute()

◆ enableIntrospection()

◆ eraseTaskCallback()

◆ execute()

◆ explainFailure()

◆ failures()

◆ findChild()

◆ getRobotModel()

◆ init()

◆ insert()

◆ introspection()

◆ loadRobotModel()

◆ name()

◆ numSolutions()

◆ onNewSolution()

◆ operator=()

◆ operator[]()

◆ plan()

◆ preempt()

◆ printState()

◆ properties() [1/2]

◆ properties() [2/2]

◆ publishAllSolutions()

◆ reset()

◆ resetPreemptRequest()

◆ setName()

◆ setProperty() [1/2]

◆ setProperty() [2/2]

◆ setRobotModel()

◆ solutions()

◆ stages() [1/2]

◆ stages() [2/2]