mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Stage: generally allow forwarding of interface properties
This commit is contained in:
parent
92296e020f
commit
0dab499533
@ -159,6 +159,13 @@ public:
|
||||
void setTimeout(double timeout) { setProperty("timeout", timeout); }
|
||||
double timeout() const { return properties().get<double>("timeout"); }
|
||||
|
||||
/// forwarding of properties between interface states
|
||||
void forwardProperties(const InterfaceState& source, InterfaceState& dest);
|
||||
std::set<std::string> forwardedProperties() const
|
||||
{ return properties().get<std::set<std::string>>("forwarded_properties"); }
|
||||
void setForwardedProperties(const std::set<std::string>& names)
|
||||
{ setProperty("forwarded_properties", names); }
|
||||
|
||||
typedef std::function<void(const SolutionBase &s)> SolutionCallback;
|
||||
typedef std::list<SolutionCallback> SolutionCallbackList;
|
||||
/// add function to be called for every newly found solution or failure
|
||||
|
||||
@ -104,10 +104,6 @@ public:
|
||||
void setIgnoreCollisions(bool flag) {
|
||||
setProperty("ignore_collisions", flag);
|
||||
}
|
||||
|
||||
void setForwardedProperties(const std::set<std::string>& names) {
|
||||
setProperty("forward_properties", names);
|
||||
}
|
||||
};
|
||||
|
||||
} } }
|
||||
|
||||
@ -105,6 +105,7 @@ void StagePrivate::sendForward(const InterfaceState& from, InterfaceState&& to,
|
||||
assert(nextStarts());
|
||||
if (!storeSolution(solution))
|
||||
return; // solution dropped
|
||||
me()->forwardProperties(from, to);
|
||||
|
||||
auto to_it = states_.insert(states_.end(), std::move(to));
|
||||
|
||||
@ -122,6 +123,7 @@ void StagePrivate::sendBackward(InterfaceState&& from, const InterfaceState& to,
|
||||
assert(prevEnds());
|
||||
if (!storeSolution(solution))
|
||||
return; // solution dropped
|
||||
me()->forwardProperties(to, from);
|
||||
|
||||
auto from_it = states_.insert(states_.end(), std::move(from));
|
||||
|
||||
@ -181,6 +183,8 @@ Stage::Stage(StagePrivate *impl)
|
||||
assert(impl);
|
||||
auto& p = properties();
|
||||
p.declare<double>("timeout", "timeout per run (s)");
|
||||
p.declare<std::set<std::string>>("forwarded_properties", std::set<std::string>(),
|
||||
"set of interface properties to forward");
|
||||
p.declare<std::string>("marker_ns", "marker namespace");
|
||||
}
|
||||
|
||||
@ -246,6 +250,17 @@ void Stage::setName(const std::string& name)
|
||||
pimpl_->name_ = name;
|
||||
}
|
||||
|
||||
void Stage::forwardProperties(const InterfaceState& source, InterfaceState& dest)
|
||||
{
|
||||
const PropertyMap& src = source.properties();
|
||||
PropertyMap& dst = dest.properties();
|
||||
for (const auto& name : forwardedProperties()) {
|
||||
if (!src.hasProperty(name))
|
||||
continue;
|
||||
dst.set(name, src.get(name));
|
||||
}
|
||||
}
|
||||
|
||||
Stage::SolutionCallbackList::const_iterator Stage::addSolutionCallback(SolutionCallback &&cb)
|
||||
{
|
||||
auto impl = pimpl();
|
||||
|
||||
@ -61,7 +61,6 @@ ComputeIK::ComputeIK(const std::string &name, Stage::pointer &&child)
|
||||
p.declare<std::string>("default_pose", "", "default joint pose of active group (defines cost of IK)");
|
||||
p.declare<uint32_t>("max_ik_solutions", 1);
|
||||
p.declare<bool>("ignore_collisions", false);
|
||||
p.declare<std::set<std::string>>("forward_properties", "to-be-forwarded properties from input");
|
||||
|
||||
// ik_frame and target_pose are read from the interface
|
||||
p.declare<geometry_msgs::PoseStamped>("ik_frame", "frame to be moved towards goal pose");
|
||||
@ -370,12 +369,7 @@ void ComputeIK::onNewSolution(const SolutionBase &s)
|
||||
robot_state.update();
|
||||
|
||||
InterfaceState state(scene);
|
||||
const boost::any &forwards = props.get("forward_properties");
|
||||
if (!forwards.empty()) {
|
||||
auto p = s.start()->properties();
|
||||
p.exposeTo(state.properties(), boost::any_cast<std::set<std::string>>(forwards));
|
||||
}
|
||||
|
||||
forwardProperties(*s.start(), state);
|
||||
spawn(std::move(state), std::move(solution));
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user