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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
cleanup: get rid of superfluous parameter
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aa733fcf5f
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@ -235,7 +235,7 @@ protected:
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private:
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private:
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// override for custom behavior on received interface states
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// override for custom behavior on received interface states
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virtual void initializeExternalInterfaces(InterfaceFlags expected);
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virtual void initializeExternalInterfaces();
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};
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};
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PIMPL_FUNCTIONS(ParallelContainerBase)
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PIMPL_FUNCTIONS(ParallelContainerBase)
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@ -263,7 +263,7 @@ protected:
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container_type::const_iterator current_generator_;
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container_type::const_iterator current_generator_;
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private:
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private:
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void initializeExternalInterfaces(InterfaceFlags expected) override;
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void initializeExternalInterfaces() override;
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template <typename Interface::Direction>
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template <typename Interface::Direction>
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void onNewExternalState(Interface::iterator external, bool updated);
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void onNewExternalState(Interface::iterator external, bool updated);
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void onNewFailure(const Stage& child, const InterfaceState* from, const InterfaceState* to) override;
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void onNewFailure(const Stage& child, const InterfaceState* from, const InterfaceState* to) override;
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@ -686,18 +686,18 @@ void ParallelContainerBasePrivate::resolveInterface(InterfaceFlags expected) {
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if (exceptions)
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if (exceptions)
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throw exceptions;
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throw exceptions;
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initializeExternalInterfaces(expected);
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required_interface_ = expected;
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required_interface_ = expected;
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initializeExternalInterfaces();
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}
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}
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void ParallelContainerBasePrivate::initializeExternalInterfaces(InterfaceFlags expected) {
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void ParallelContainerBasePrivate::initializeExternalInterfaces() {
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// States received by the container need to be copied to all children's pull interfaces.
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// States received by the container need to be copied to all children's pull interfaces.
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if (expected & READS_START)
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if (requiredInterface() & READS_START)
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starts().reset(new Interface([this](Interface::iterator external, bool updated) {
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starts().reset(new Interface([this](Interface::iterator external, bool updated) {
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this->propagateStateToChildren<Interface::FORWARD>(external, updated);
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this->propagateStateToChildren<Interface::FORWARD>(external, updated);
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}));
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}));
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if (expected & READS_END)
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if (requiredInterface() & READS_END)
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ends().reset(new Interface([this](Interface::iterator external, bool updated) {
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ends().reset(new Interface([this](Interface::iterator external, bool updated) {
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this->propagateStateToChildren<Interface::BACKWARD>(external, updated);
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this->propagateStateToChildren<Interface::BACKWARD>(external, updated);
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}));
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}));
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@ -851,19 +851,19 @@ void Fallbacks::onNewSolution(const SolutionBase& s) {
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FallbacksPrivate::FallbacksPrivate(Fallbacks* me, const std::string& name)
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FallbacksPrivate::FallbacksPrivate(Fallbacks* me, const std::string& name)
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: ParallelContainerBasePrivate(me, name) {}
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: ParallelContainerBasePrivate(me, name) {}
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void FallbacksPrivate::initializeExternalInterfaces(InterfaceFlags expected) {
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void FallbacksPrivate::initializeExternalInterfaces() {
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if (expected & READS_START)
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if (requiredInterface() & READS_START)
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starts().reset(new Interface([this](Interface::iterator external, bool updated) {
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starts().reset(new Interface([this](Interface::iterator external, bool updated) {
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this->onNewExternalState<Interface::FORWARD>(external, updated);
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this->onNewExternalState<Interface::FORWARD>(external, updated);
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}));
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}));
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if (expected & READS_END)
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if (requiredInterface() & READS_END)
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ends().reset(new Interface([this](Interface::iterator external, bool updated) {
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ends().reset(new Interface([this](Interface::iterator external, bool updated) {
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this->onNewExternalState<Interface::BACKWARD>(external, updated);
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this->onNewExternalState<Interface::BACKWARD>(external, updated);
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}));
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}));
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// we've got to set this somewhere once the interface flags are known.
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// we've got to set this somewhere once the interface flags are known.
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// so we might as well do it here
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// so we might as well do it here
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if(expected == GENERATE)
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if(requiredInterface() == GENERATE)
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current_generator_ = children().begin();
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current_generator_ = children().begin();
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}
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}
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