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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Switch order of function declarations
... to avoid explicit template initialization
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52dc494525
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@ -109,29 +109,6 @@ void ContainerBasePrivate::compute() {
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static_cast<ContainerBase*>(me_)->compute();
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}
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void ContainerBasePrivate::onNewFailure(const Stage& child, const InterfaceState* from, const InterfaceState* to) {
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ROS_DEBUG_STREAM_NAMED("Pruning", "'" << child.name() << "' generated a failure");
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switch (child.pimpl()->interfaceFlags()) {
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case GENERATE:
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// just ignore: the pair of (new) states isn't known to us anyway
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// TODO: If child is a container, from and to might have associated solutions already!
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break;
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case PROPAGATE_FORWARDS: // mark from as failed (backwards)
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setStatus<Interface::BACKWARD>(nullptr, nullptr, from, InterfaceState::Status::FAILED);
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break;
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case PROPAGATE_BACKWARDS: // mark to as failed (forwards)
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setStatus<Interface::FORWARD>(nullptr, nullptr, to, InterfaceState::Status::FAILED);
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break;
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case CONNECT:
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setStatus<Interface::BACKWARD>(&child, to, from, InterfaceState::Status::FAILED);
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setStatus<Interface::FORWARD>(&child, from, to, InterfaceState::Status::FAILED);
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break;
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}
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// printChildrenInterfaces(*this, false, child);
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}
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template <Interface::Direction dir>
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void ContainerBasePrivate::setStatus(const Stage* creator, const InterfaceState* source, const InterfaceState* target,
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InterfaceState::Status status) {
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@ -189,6 +166,29 @@ void ContainerBasePrivate::setStatus(const Stage* creator, const InterfaceState*
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setStatus<dir>(successor->creator(), target, state<dir>(*successor), status);
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}
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void ContainerBasePrivate::onNewFailure(const Stage& child, const InterfaceState* from, const InterfaceState* to) {
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ROS_DEBUG_STREAM_NAMED("Pruning", "'" << child.name() << "' generated a failure");
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switch (child.pimpl()->interfaceFlags()) {
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case GENERATE:
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// just ignore: the pair of (new) states isn't known to us anyway
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// TODO: If child is a container, from and to might have associated solutions already!
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break;
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case PROPAGATE_FORWARDS: // mark from as failed (backwards)
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setStatus<Interface::BACKWARD>(nullptr, nullptr, from, InterfaceState::Status::FAILED);
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break;
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case PROPAGATE_BACKWARDS: // mark to as failed (forwards)
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setStatus<Interface::FORWARD>(nullptr, nullptr, to, InterfaceState::Status::FAILED);
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break;
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case CONNECT:
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setStatus<Interface::BACKWARD>(&child, to, from, InterfaceState::Status::FAILED);
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setStatus<Interface::FORWARD>(&child, from, to, InterfaceState::Status::FAILED);
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break;
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}
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// printChildrenInterfaces(*this, false, child);
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}
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template <Interface::Direction dir>
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void ContainerBasePrivate::copyState(Interface::iterator external, const InterfacePtr& target, bool updated) {
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if (updated) { // propagate external state update to internal copies
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