#include <local_task_model.h>

Inheritance diagram for moveit_rviz_plugin::LocalTaskModel:

[legend]

Public Member Functions
QVariant	data (const QModelIndex &index, int role=Qt::DisplayRole) const override

bool	dropMimeData (const QMimeData *data, Qt::DropAction action, int row, int column, const QModelIndex &parent) override

Qt::ItemFlags	flags (const QModelIndex &index) const override

rviz::PropertyTreeModel *	getPropertyModel (const QModelIndex &index) override
	get property model for given stage index More...

DisplaySolutionPtr	getSolution (const QModelIndex &index) override
	get solution for given solution index More...

QAbstractItemModel *	getSolutionModel (const QModelIndex &index) override
	get solution model for given stage index More...

QModelIndex	index (int row, int column, const QModelIndex &parent=QModelIndex()) const override

QModelIndex	indexFromStageId (size_t id) const override
	retrieve model index associated with given stage id More...

	LocalTaskModel (ContainerBase::pointer &&container, const planning_scene::PlanningSceneConstPtr &scene, rviz::DisplayContext display_context, QObject parent=nullptr)

QModelIndex	parent (const QModelIndex &index) const override

bool	removeRows (int row, int count, const QModelIndex &parent) override

int	rowCount (const QModelIndex &parent=QModelIndex()) const override

bool	setData (const QModelIndex &index, const QVariant &value, int role=Qt::EditRole) override

void	setStageFactory (const StageFactoryPtr &factory) override
	providing a StageFactory makes the model accepting drops More...

Public Member Functions inherited from moveit_rviz_plugin::BaseTaskModel
	BaseTaskModel (const planning_scene::PlanningSceneConstPtr &scene, rviz::DisplayContext display_context, QObject parent=nullptr)

int	columnCount (const QModelIndex &=QModelIndex()) const override

QVariant	data (const QModelIndex &index, int role) const override

QVariant	headerData (int section, Qt::Orientation orientation, int role) const override

unsigned int	taskFlags () const

Public Member Functions inherited from moveit::task_constructor::Task
void	add (Stage::pointer &&stage)

TaskCallbackList::const_iterator	addTaskCallback (TaskCallback &&cb)

void	clear () final

void	enableIntrospection (bool enable=true)

void	eraseTaskCallback (TaskCallbackList::const_iterator which)

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

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

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

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

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

void	init ()

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

Introspection &	introspection ()

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

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)

void	preempt ()

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

PropertyMap &	properties ()

const PropertyMap &	properties () const

void	publishAllSolutions (bool wait=true)

void	reset () final

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)

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

const ordered< SolutionBaseConstPtr > &	solutions () const

ContainerBase *	stages ()

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

Private Types
using	Node = moveit::task_constructor::Stage

Private Member Functions
QModelIndex	index (Node *n) const

Node *	node (const QModelIndex &index) const

Private Attributes
std::map< Node , rviz::PropertyTreeModel >	properties_

Node *	root_

StageFactoryPtr	stage_factory_

Additional Inherited Members
Public Types inherited from moveit_rviz_plugin::BaseTaskModel
enum	TaskModelFlag : uint8_t { LOCAL_MODEL = 0x01, IS_DESTROYED = 0x02, IS_INITIALIZED = 0x04, IS_RUNNING = 0x08 }

Public Types inherited from moveit::task_constructor::Task
typedef std::function< void(const Task &t)>	TaskCallback

typedef std::list< TaskCallback >	TaskCallbackList

Static Public Member Functions inherited from moveit_rviz_plugin::BaseTaskModel
static QVariant	flowIcon (moveit::task_constructor::InterfaceFlags f)

Protected Types inherited from moveit::task_constructor::ContainerBase
typedef std::unique_ptr< ContainerBase >	pointer

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

Protected Types inherited from moveit::task_constructor::Stage
typedef std::unique_ptr< Stage >	pointer

enum	PropertyInitializerSource

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

typedef std::list< SolutionCallback >	SolutionCallbackList

Protected Member Functions inherited from moveit::task_constructor::Task
bool	canCompute () const override

void	compute () override

void	onNewSolution (const SolutionBase &s) override

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

bool	canCompute () const override

void	compute () override

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

Stage *	wrapped ()

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)

void	liftSolution (const SolutionBase &solution, double cost)

void	liftSolution (const SolutionBase &solution, double cost, std::string comment)

	ParallelContainerBase (ParallelContainerBasePrivate *impl)

void	sendBackward (InterfaceState &&from, const InterfaceState &to, SubTrajectory &&trajectory)

void	sendForward (const InterfaceState &from, InterfaceState &&to, SubTrajectory &&trajectory)

void	spawn (InterfaceState &&state, SubTrajectory &&trajectory)

	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)

bool	traverseChildren (const StageCallback &processor) const

bool	traverseRecursively (const StageCallback &processor) const

Protected Member Functions inherited from moveit::task_constructor::Stage
	Stage (const Stage &)=delete

	Stage (StagePrivate *impl)

SolutionCallbackList::const_iterator	addSolutionCallback (SolutionCallback &&cb)

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

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

void	forwardProperties (const InterfaceState &source, InterfaceState &dest)

double	getTotalComputeTime () const

Introspection *	introspection () const

uint32_t	introspectionId () const

const std::string &	markerNS ()

const std::string &	name () const

size_t	numFailures () const

const ContainerBase *	parent () const

PropertyMap &	properties ()

const PropertyMap &	properties () const

void	removeSolutionCallback (SolutionCallbackList::const_iterator which)

void	reportPropertyError (const Property::error &e)

void	setCostTerm (const CostTermConstPtr &term)

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)

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

void	setTimeout (double timeout)

void	setTrajectoryExecutionInfo (TrajectoryExecutionInfo trajectory_execution_info)

void	silentFailure ()

const ordered< SolutionBaseConstPtr > &	solutions () const

bool	storeFailures () const

double	timeout () const

TrajectoryExecutionInfo	trajectoryExecutionInfo () const

virtual	~Stage ()

Protected Attributes inherited from moveit_rviz_plugin::BaseTaskModel
rviz::DisplayContext *	display_context_

unsigned int	flags_ = 0

planning_scene::PlanningSceneConstPtr	scene_

Protected Attributes inherited from moveit::task_constructor::Stage
StagePrivate *	pimpl_

	DEFAULT

	INTERFACE

	MANUAL

	PARENT

Detailed Description

Definition at line 76 of file local_task_model.h.

Member Typedef Documentation

◆ Node

using moveit_rviz_plugin::LocalTaskModel::Node = moveit::task_constructor::Stage

private

Definition at line 111 of file local_task_model.h.

Constructor & Destructor Documentation

◆ LocalTaskModel()

moveit_rviz_plugin::LocalTaskModel::LocalTaskModel	(	ContainerBase::pointer &&	container,
		const planning_scene::PlanningSceneConstPtr &	scene,
		rviz::DisplayContext *	display_context,
		QObject *	parent = `nullptr`
	)

Definition at line 80 of file local_task_model.cpp.

Member Function Documentation

◆ data()

QVariant moveit_rviz_plugin::LocalTaskModel::data	(	const QModelIndex &	index,
		int	role = `Qt::DisplayRole`
	)		const

override

Definition at line 142 of file local_task_model.cpp.

◆ dropMimeData()

bool moveit_rviz_plugin::LocalTaskModel::dropMimeData	(	const QMimeData *	data,
		Qt::DropAction	action,
		int	row,
		int	column,
		const QModelIndex &	parent
	)

override

Definition at line 199 of file local_task_model.cpp.

◆ flags()

Qt::ItemFlags moveit_rviz_plugin::LocalTaskModel::flags ( const QModelIndex & index ) const

override

Definition at line 131 of file local_task_model.cpp.

◆ getPropertyModel()

rviz::PropertyTreeModel * moveit_rviz_plugin::LocalTaskModel::getPropertyModel ( const QModelIndex & index )

overridevirtual

get property model for given stage index

Implements moveit_rviz_plugin::BaseTaskModel.

Definition at line 238 of file local_task_model.cpp.

◆ getSolution()

DisplaySolutionPtr moveit_rviz_plugin::LocalTaskModel::getSolution ( const QModelIndex & index )

overridevirtual

get solution for given solution index

Implements moveit_rviz_plugin::BaseTaskModel.

Definition at line 233 of file local_task_model.cpp.

◆ getSolutionModel()

QAbstractItemModel * moveit_rviz_plugin::LocalTaskModel::getSolutionModel ( const QModelIndex & index )

overridevirtual

get solution model for given stage index

Implements moveit_rviz_plugin::BaseTaskModel.

Definition at line 228 of file local_task_model.cpp.

◆ index() [1/2]

QModelIndex moveit_rviz_plugin::LocalTaskModel::index	(	int	row,
		int	column,
		const QModelIndex &	parent = `QModelIndex()`
	)		const

override

Definition at line 98 of file local_task_model.cpp.

◆ index() [2/2]

QModelIndex moveit_rviz_plugin::LocalTaskModel::index ( Node * n ) const

private

Definition at line 61 of file local_task_model.cpp.

◆ indexFromStageId()

QModelIndex moveit_rviz_plugin::LocalTaskModel::indexFromStageId ( size_t id ) const

overridevirtual

retrieve model index associated with given stage id

Implements moveit_rviz_plugin::BaseTaskModel.

Definition at line 223 of file local_task_model.cpp.

◆ node()

LocalTaskModel::Node * moveit_rviz_plugin::LocalTaskModel::node ( const QModelIndex & index ) const

inlineprivate

Definition at line 51 of file local_task_model.cpp.

◆ parent()

QModelIndex moveit_rviz_plugin::LocalTaskModel::parent ( const QModelIndex & index ) const

override

Definition at line 121 of file local_task_model.cpp.

◆ removeRows()

bool moveit_rviz_plugin::LocalTaskModel::removeRows	(	int	row,
		int	count,
		const QModelIndex &	parent
	)

override

Definition at line 177 of file local_task_model.cpp.

◆ rowCount()

int moveit_rviz_plugin::LocalTaskModel::rowCount ( const QModelIndex & parent = QModelIndex() ) const

override

Definition at line 87 of file local_task_model.cpp.

◆ setData()

bool moveit_rviz_plugin::LocalTaskModel::setData	(	const QModelIndex &	index,
		const QVariant &	value,
		int	role = `Qt::EditRole`
	)

override

Definition at line 163 of file local_task_model.cpp.

◆ setStageFactory()

void moveit_rviz_plugin::LocalTaskModel::setStageFactory ( const StageFactoryPtr & factory )

overridevirtual

providing a StageFactory makes the model accepting drops

Reimplemented from moveit_rviz_plugin::BaseTaskModel.

Definition at line 195 of file local_task_model.cpp.

Member Data Documentation

◆ properties_

std::map<Node*, rviz::PropertyTreeModel*> moveit_rviz_plugin::LocalTaskModel::properties_

private

Definition at line 114 of file local_task_model.h.

◆ root_

Node* moveit_rviz_plugin::LocalTaskModel::root_

private

Definition at line 112 of file local_task_model.h.

◆ stage_factory_

StageFactoryPtr moveit_rviz_plugin::LocalTaskModel::stage_factory_

private

Definition at line 113 of file local_task_model.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Node

Constructor & Destructor Documentation

◆ LocalTaskModel()

Member Function Documentation

◆ data()

◆ dropMimeData()

◆ flags()

◆ getPropertyModel()

◆ getSolution()

◆ getSolutionModel()

◆ index() [1/2]

◆ index() [2/2]

◆ indexFromStageId()

◆ node()

◆ parent()

◆ removeRows()

◆ rowCount()

◆ setData()

◆ setStageFactory()

Member Data Documentation

◆ properties_

◆ root_

◆ stage_factory_