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https://github.com/moveit/moveit_task_constructor.git
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use std::unique_ptr
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@ -81,6 +81,10 @@ TaskDisplay::TaskDisplay() : Display()
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new rviz::Property("Tasks", QVariant(), "Tasks received on monitored topic", this);
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new rviz::Property("Tasks", QVariant(), "Tasks received on monitored topic", this);
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}
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}
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TaskDisplay::~TaskDisplay()
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{
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}
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void TaskDisplay::onInitialize()
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void TaskDisplay::onInitialize()
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{
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{
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Display::onInitialize();
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Display::onInitialize();
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@ -63,8 +63,8 @@ namespace moveit_rviz_plugin
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{
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{
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MOVEIT_CLASS_FORWARD(DisplaySolution)
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MOVEIT_CLASS_FORWARD(DisplaySolution)
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MOVEIT_CLASS_FORWARD(TaskSolutionVisualization)
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class TaskSolutionVisualization;
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MOVEIT_CLASS_FORWARD(TaskListModel)
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class TaskListModel;
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class TaskDisplay : public rviz::Display
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class TaskDisplay : public rviz::Display
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{
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{
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@ -72,6 +72,7 @@ class TaskDisplay : public rviz::Display
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public:
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public:
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TaskDisplay();
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TaskDisplay();
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~TaskDisplay();
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void loadRobotModel();
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void loadRobotModel();
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@ -84,7 +85,7 @@ public:
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virtual void onDisable();
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virtual void onDisable();
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void setName(const QString& name);
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void setName(const QString& name);
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TaskListModelPtr getTaskListModel() const { return task_list_model_; }
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TaskListModel& getTaskListModel() { return *task_list_model_; }
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void showTrajectory(const DisplaySolutionPtr& s) const;
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void showTrajectory(const DisplaySolutionPtr& s) const;
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private Q_SLOTS:
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private Q_SLOTS:
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@ -111,9 +112,9 @@ protected:
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moveit::tools::JobQueue mainloop_jobs_;
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moveit::tools::JobQueue mainloop_jobs_;
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// The trajectory playback component
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// The trajectory playback component
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TaskSolutionVisualizationPtr trajectory_visual_;
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std::unique_ptr<TaskSolutionVisualization> trajectory_visual_;
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// The TaskListModel storing actual task and solution data
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// The TaskListModel storing actual task and solution data
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TaskListModelPtr task_list_model_;
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std::unique_ptr<TaskListModel> task_list_model_;
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// Load robot model
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// Load robot model
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rdf_loader::RDFLoaderPtr rdf_loader_;
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rdf_loader::RDFLoaderPtr rdf_loader_;
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@ -162,7 +162,7 @@ void TaskPanel::addTask()
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display->initialize(vis_manager_);
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display->initialize(vis_manager_);
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display->setEnabled(true);
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display->setEnabled(true);
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task_list_model = display->getTaskListModel().get();
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task_list_model = &display->getTaskListModel();
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} else
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} else
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task_list_model = d_ptr->getTaskListModel(current).first;
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task_list_model = d_ptr->getTaskListModel(current).first;
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