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