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https://github.com/moveit/moveit_task_constructor.git
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ContainerBasePrivate::position(): generically handle shifting
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b15c5adbd7
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@ -73,9 +73,10 @@ public:
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inline const container_type& children() const { return children_; }
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/** Retrieve iterator into children_ pointing to indexed element.
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* Negative index counts from end(), i.e. -1 is end(), -2 is --end(), etc.
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* Negative index counts from end, i.e. -1 is last, -2 is second last, etc. (if !for_insert)
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* If for_insert == true, negative indexes are shifted by one: -1 is end(), -2 is --end(), etc.
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* Contrary to std::advance(), iterator limits are considered. */
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const_iterator position(int index) const;
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const_iterator position(int index, bool for_insert = false) const;
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/// traversing all stages up to max_depth
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bool traverseStages(const ContainerBase::StageCallback &processor,
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@ -56,7 +56,9 @@ ContainerBasePrivate::ContainerBasePrivate(ContainerBase *me, const std::string
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pending_forward_.reset(new Interface);
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}
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ContainerBasePrivate::const_iterator ContainerBasePrivate::position(int index) const {
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ContainerBasePrivate::const_iterator ContainerBasePrivate::position(int index, bool for_insert) const {
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if (!for_insert && index < 0)
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--index;
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const_iterator position = children_.begin();
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if (index > 0) {
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for (auto end = children_.end(); index > 0 && position != end; --index)
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@ -164,7 +166,7 @@ bool ContainerBase::insert(Stage::pointer &&stage, int before)
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return false;
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}
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ContainerBasePrivate::const_iterator where = pimpl()->position(before);
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ContainerBasePrivate::const_iterator where = pimpl()->position(before, true);
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ContainerBasePrivate::iterator it = pimpl()->children_.insert(where, std::move(stage));
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impl->setHierarchy(this, it);
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return true;
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@ -172,7 +174,7 @@ bool ContainerBase::insert(Stage::pointer &&stage, int before)
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bool ContainerBase::remove(int pos)
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{
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ContainerBasePrivate::const_iterator it = pimpl()->position(pos);
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ContainerBasePrivate::const_iterator it = pimpl()->position(pos, false);
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(*it)->pimpl()->setHierarchy(nullptr, ContainerBasePrivate::iterator());
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pimpl()->children_.erase(it);
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return true;
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@ -186,8 +188,7 @@ void ContainerBase::clear()
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void ContainerBase::exposePropertiesOfChild(int child, const std::initializer_list<std::string>& names)
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{
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auto impl = pimpl();
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// for negative child index, return last child for -1, next to last for -2, etc
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ContainerBasePrivate::const_iterator child_it = impl->position(child < 0 ? child-1 : child);
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ContainerBasePrivate::const_iterator child_it = impl->position(child, false);
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if (child_it == impl->children().end())
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throw std::runtime_error("invalid child index");
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@ -202,8 +203,7 @@ void ContainerBase::exposePropertyOfChildAs(int child, const std::string& child_
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const std::string& parent_property_name)
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{
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auto impl = pimpl();
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// for negative child index, return last child for -1, next to last for -2, etc
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ContainerBasePrivate::const_iterator child_it = impl->position(child < 0 ? child-1 : child);
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ContainerBasePrivate::const_iterator child_it = impl->position(child, false);
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if (child_it == impl->children().end())
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throw std::runtime_error("invalid child index");
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@ -73,30 +73,30 @@ public:
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}
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};
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TEST(ContainerBase, position) {
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TEST(ContainerBase, positionForInsert) {
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SerialContainer s;
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SerialContainerPrivate *impl = s.pimpl();
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EXPECT_EQ(impl->position(0), impl->children().end());
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EXPECT_EQ(impl->position(1), impl->children().end());
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EXPECT_EQ(impl->position(-1), impl->children().end());
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EXPECT_EQ(impl->position(-2), impl->children().end());
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EXPECT_EQ(impl->position(0, true), impl->children().end());
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EXPECT_EQ(impl->position(1, true), impl->children().end());
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EXPECT_EQ(impl->position(-1, true), impl->children().end());
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EXPECT_EQ(impl->position(-2, true), impl->children().end());
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s.insert(std::make_unique<NamedStage>("0"));
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EXPECT_STREQ((*impl->position(0))->name().c_str(), "0");
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EXPECT_EQ(impl->position(-1), impl->children().end());
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EXPECT_STREQ((*impl->position(-2))->name().c_str(), "0");
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EXPECT_EQ(impl->position(-3), impl->children().end());
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EXPECT_STREQ((*impl->position(0, true))->name().c_str(), "0");
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EXPECT_EQ(impl->position(-1, true), impl->children().end());
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EXPECT_STREQ((*impl->position(-2, true))->name().c_str(), "0");
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EXPECT_EQ(impl->position(-3, true), impl->children().end());
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s.insert(std::make_unique<NamedStage>("1"));
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EXPECT_STREQ((*impl->position(0))->name().c_str(), "0");
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EXPECT_STREQ((*impl->position(1))->name().c_str(), "1");
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EXPECT_EQ(impl->position(2), impl->children().end());
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EXPECT_STREQ((*impl->position(0, true))->name().c_str(), "0");
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EXPECT_STREQ((*impl->position(1, true))->name().c_str(), "1");
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EXPECT_EQ(impl->position(2, true), impl->children().end());
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EXPECT_EQ(impl->position(-1), impl->children().end());
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EXPECT_STREQ((*impl->position(-2))->name().c_str(), "1");
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EXPECT_STREQ((*impl->position(-3))->name().c_str(), "0");
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EXPECT_EQ(impl->position(-4), impl->children().end());
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EXPECT_EQ(impl->position(-1, true), impl->children().end());
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EXPECT_STREQ((*impl->position(-2, true))->name().c_str(), "1");
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EXPECT_STREQ((*impl->position(-3, true))->name().c_str(), "0");
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EXPECT_EQ(impl->position(-4, true), impl->children().end());
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}
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@ -154,7 +154,7 @@ protected:
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ASSERT_TRUE(num == expected.size()) << "different list lengths";
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// validate position()
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EXPECT_EQ(container->children().begin(), container->position(-(num+1)));
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EXPECT_EQ(container->children().begin(), container->position(-num));
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EXPECT_EQ(container->children().end(), container->position(num));
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// validate order
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@ -165,7 +165,7 @@ protected:
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EXPECT_EQ(child, *exp_it) << "wrong order";
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EXPECT_EQ(child->parent()->pimpl(), container) << "wrong parent";
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EXPECT_EQ(it, container->position(pos)) << "bad forward position resolution";
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EXPECT_EQ(it, container->position(pos-num-1)) << "bad backward position resolution";
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EXPECT_EQ(it, container->position(pos-num)) << "bad backward position resolution";
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}
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}
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};
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