diff --git a/core/include/moveit/task_constructor/stage_p.h b/core/include/moveit/task_constructor/stage_p.h index 84d0fc31..9ec47be9 100644 --- a/core/include/moveit/task_constructor/stage_p.h +++ b/core/include/moveit/task_constructor/stage_p.h @@ -73,7 +73,7 @@ public: /** Interface required by this stage * - * If the interface is unknown (because it is auto-detected from context), return 0 */ + * If the interface is unknown (because it is auto-detected from context), return UNKNOWN */ virtual InterfaceFlags requiredInterface() const = 0; /** Prune interface to comply with the given propagation direction @@ -163,6 +163,7 @@ protected: std::string name_; PropertyMap properties_; + // the stage's pull interfaces, created as required InterfacePtr starts_; InterfacePtr ends_; diff --git a/core/src/container.cpp b/core/src/container.cpp index f06cd894..a7a80e7d 100644 --- a/core/src/container.cpp +++ b/core/src/container.cpp @@ -105,7 +105,7 @@ void ContainerBasePrivate::validateConnectivity() const { void ContainerBasePrivate::mismatchingInterface(InitStageException& errors, const StagePrivate& child, const InterfaceFlags mask) const { - boost::format desc("%1% interface of '%2%' (%3%) doesn't match mine (%4%)"); + boost::format desc("%1% interface of '%2%' (%3%) does not match mine (%4%)"); errors.push_back(*me(), (desc % (mask == START_IF_MASK ? "start" : "end") % child.name() % flowSymbol(child.interfaceFlags() & mask) % flowSymbol(interfaceFlags() & mask)) .str()); @@ -948,7 +948,7 @@ InterfaceFlags MergerPrivate::requiredInterface() const { for (const Stage::pointer& stage : children()) { InterfaceFlags current = stage->pimpl()->requiredInterface(); if (current != required) - throw InitStageException(*stage, "Interface doesn't match the common one."); + throw InitStageException(*stage, "Interface does not match the common one."); } switch (required) { diff --git a/core/src/stage.cpp b/core/src/stage.cpp index 030a876a..3ebca61e 100644 --- a/core/src/stage.cpp +++ b/core/src/stage.cpp @@ -57,7 +57,7 @@ void InitStageException::append(InitStageException& other) { } const char* InitStageException::what() const noexcept { - static const char* msg = "Error initializing stage(s)"; + static const char* msg = "Error initializing stage(s). ROS_ERROR_STREAM(e) for details."; return msg; } @@ -575,7 +575,7 @@ void PropagatingBackward::computeForward(const InterfaceState& from) { GeneratorPrivate::GeneratorPrivate(Generator* me, const std::string& name) : ComputeBasePrivate(me, name) {} InterfaceFlags GeneratorPrivate::requiredInterface() const { - return InterfaceFlags({ WRITES_NEXT_START, WRITES_PREV_END }); + return InterfaceFlags(GENERATE); } bool GeneratorPrivate::canCompute() const {