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FixedState generator
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core/include/moveit/task_constructor/stages/fixed_state.h
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60
core/include/moveit/task_constructor/stages/fixed_state.h
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@ -0,0 +1,60 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017, Bielefeld University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Bielefeld University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Authors: Robert Haschke
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Desc: Generator Stage spawning a pre-defined, fixed planning scene state
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*/
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#pragma once
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#include <moveit/task_constructor/stage.h>
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namespace moveit { namespace task_constructor { namespace stages {
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/** Spawn a pre-defined PlanningScene state */
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class FixedState : public Generator {
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public:
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FixedState(const std::string& name = "initial state");
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void setState(const planning_scene::PlanningScenePtr& scene);
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bool canCompute() const override;
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bool compute() override;
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protected:
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planning_scene::PlanningScenePtr scene_;
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bool ran_ = false;
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};
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} } }
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@ -3,6 +3,7 @@ add_library(${PROJECT_NAME}_stages
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${PROJECT_INCLUDE}/stages/fix_collision_objects.h
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${PROJECT_INCLUDE}/stages/current_state.h
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${PROJECT_INCLUDE}/stages/fixed_state.h
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${PROJECT_INCLUDE}/stages/generate_grasp_pose.h
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${PROJECT_INCLUDE}/stages/compute_ik.h
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@ -18,6 +19,7 @@ add_library(${PROJECT_NAME}_stages
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fix_collision_objects.cpp
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current_state.cpp
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fixed_state.cpp
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generate_grasp_pose.cpp
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compute_ik.cpp
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60
core/src/stages/fixed_state.cpp
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60
core/src/stages/fixed_state.cpp
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@ -0,0 +1,60 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017, Bielefeld University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Bielefeld University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Authors: Robert Haschke */
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#include <moveit/task_constructor/stages/fixed_state.h>
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#include <moveit/planning_scene/planning_scene.h>
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namespace moveit { namespace task_constructor { namespace stages {
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FixedState::FixedState(const std::string &name)
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: Generator(name)
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{}
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void FixedState::setState(const planning_scene::PlanningScenePtr& scene)
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{
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scene_ = scene;
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}
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bool FixedState::canCompute() const{
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return !ran_ && scene_;
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}
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bool FixedState::compute() {
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spawn(InterfaceState(scene_), 0.0);
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return ran_= true;
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}
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} } }
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