DISABLED -> PRUNED

This makes the semantics much clearer as states can only be disabled by pruning.
This commit is contained in:
v4hn 2021-09-20 16:13:57 +02:00 committed by Michael Görner
parent d143dd7076
commit 35560d897d
5 changed files with 10 additions and 9 deletions

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@ -148,7 +148,7 @@ protected:
child->setNextStarts(allowed ? pending_forward_ : InterfacePtr());
}
/// Set ENABLED / DISABLED status of the solution tree starting from s into given direction
/// Set ENABLED / PRUNED status of the solution tree starting from s into given direction
template <Interface::Direction dir>
void setStatus(const InterfaceState* s, InterfaceState::Status status);

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@ -82,7 +82,7 @@ public:
enum Status
{
ENABLED, // state is actively considered during planning
DISABLED, // state is disabled because a required connected state failed
PRUNED, // state is disabled because a required connected state failed
FAILED, // state that failed, causing the whole partial solution to be disabled
};
/** InterfaceStates are ordered according to two values:
@ -101,6 +101,7 @@ public:
inline Status status() const { return std::get<0>(*this); }
inline bool enabled() const { return std::get<0>(*this) == ENABLED; }
inline bool failed() const { return std::get<0>(*this) == FAILED; }
inline bool pruned() const { return std::get<0>(*this) == PRUNED; }
inline unsigned int depth() const { return std::get<1>(*this); }
inline double cost() const { return std::get<2>(*this); }

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@ -144,7 +144,7 @@ void ContainerBasePrivate::setStatus(const InterfaceState* s, InterfaceState::St
return; // nothing changing
// if we should disable the state, only do so when there is no enabled alternative path
if (status == InterfaceState::DISABLED) {
if (status == InterfaceState::PRUNED) {
auto solution_is_enabled = [](auto&& solution) {
return state<opposite<dir>()>(*solution)->priority().enabled();
};
@ -177,13 +177,13 @@ void ContainerBasePrivate::setStatus(const InterfaceState* s, InterfaceState::St
}
// To break symmetry between both ends of a partial solution sequence that gets disabled,
// we mark the first state with FAILED and all other states down the tree only with DISABLED.
// This allows us to re-enable the FAILED side, while not (yet) consider the DISABLED states again,
// we mark the first state with FAILED and all other states down the tree only with PRUNED.
// This allows us to re-enable the FAILED side, while not (yet) consider the PRUNED states again,
// when new states arrive in a Connecting stage.
// All DISABLED states are only re-enabled if the FAILED state actually gets connected.
// All PRUNED states are only re-enabled if the FAILED state actually gets connected.
// For details, see: https://github.com/ros-planning/moveit_task_constructor/pull/221
if (status == InterfaceState::Status::FAILED)
status = InterfaceState::Status::DISABLED; // only the first state is marked as FAILED
status = InterfaceState::Status::PRUNED; // only the first state is marked as FAILED
// traverse solution tree
for (const SolutionBase* successor : trajectories<dir>(*s))

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@ -712,7 +712,7 @@ ConnectingPrivate::StatePair ConnectingPrivate::make_pair<Interface::FORWARD>(In
template <Interface::Direction other>
void ConnectingPrivate::newState(Interface::iterator it, bool updated) {
if (updated) { // many pairs might be affected: resort
if (it->priority().status() == InterfaceState::DISABLED)
if (it->priority().pruned())
// remove all pending pairs involving this state
pending.remove_if([it](const StatePair& p) { return std::get<opposite<other>()>(p) == it; });
else

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@ -148,7 +148,7 @@ std::ostream& operator<<(std::ostream& os, const InterfaceState::Priority& prio)
// maps InterfaceState::Status values to output (color-changing) prefix
static const char* prefix[] = {
"\033[32me:", // ENABLED - green
"\033[33md:", // DISABLED - yellow
"\033[33md:", // PRUNED - yellow
"\033[31mf:", // FAILED - red
};
static const char* color_reset = "\033[m";