mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
expose Stage API to get the matching introspection ID
This was implicitly requested in #192 .
This commit is contained in:
parent
6bebe3f3ed
commit
62d894199f
@ -180,6 +180,8 @@ public:
|
|||||||
const std::string& name() const;
|
const std::string& name() const;
|
||||||
void setName(const std::string& name);
|
void setName(const std::string& name);
|
||||||
|
|
||||||
|
uint32_t introspectionId() const;
|
||||||
|
|
||||||
/** set computation timeout (in seconds)
|
/** set computation timeout (in seconds)
|
||||||
*
|
*
|
||||||
* The logic of the individual stage should ensure this limit is respected.
|
* The logic of the individual stage should ensure this limit is respected.
|
||||||
|
|||||||
@ -283,6 +283,12 @@ void Stage::setName(const std::string& name) {
|
|||||||
pimpl_->name_ = name;
|
pimpl_->name_ = name;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
uint32_t Stage::introspectionId() const {
|
||||||
|
if (!pimpl_->introspection_)
|
||||||
|
throw std::runtime_error("Task is not initialized yet or Introspection was disabled.");
|
||||||
|
return const_cast<const moveit::task_constructor::Introspection*>(pimpl_->introspection_)->stageId(this);
|
||||||
|
}
|
||||||
|
|
||||||
void Stage::forwardProperties(const InterfaceState& source, InterfaceState& dest) {
|
void Stage::forwardProperties(const InterfaceState& source, InterfaceState& dest) {
|
||||||
const PropertyMap& src = source.properties();
|
const PropertyMap& src = source.properties();
|
||||||
PropertyMap& dst = dest.properties();
|
PropertyMap& dst = dest.properties();
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user