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Add NoOp stage (#534)
This stage can be used to add arbitrary user-defined properties w/o modifying the PlanningScene state or adding a trajectory. Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
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core/include/moveit/task_constructor/stages/noop.h
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core/include/moveit/task_constructor/stages/noop.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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* Copyright (c) 2024, Sherbrooke University
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* All rights reserved.
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* notice, this list of conditions and the following disclaimer.
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* * Neither the name of Bielefeld University nor the names of its
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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*********************************************************************/
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/* Authors: Captain Yoshi */
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#pragma once
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#include <moveit/task_constructor/stage.h>
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#include <moveit/planning_scene/planning_scene.h>
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namespace moveit {
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namespace task_constructor {
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namespace stages {
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/** no-op stage, which doesn't modify the interface state nor adds a trajectory.
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* However, it can be used to store custom stage properties,
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* which in turn can be queried post-planning to steer the execution.
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*/
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class NoOp : public PropagatingEitherWay
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{
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public:
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NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name){};
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private:
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bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr& scene, SubTrajectory& /*trajectory*/,
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Interface::Direction /*dir*/) override {
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scene = state.scene()->diff();
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return true;
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};
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};
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} // namespace stages
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} // namespace task_constructor
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} // namespace moveit
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@ -11,6 +11,7 @@ add_library(${PROJECT_NAME}_stages
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${PROJECT_INCLUDE}/stages/generate_place_pose.h
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${PROJECT_INCLUDE}/stages/compute_ik.h
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${PROJECT_INCLUDE}/stages/passthrough.h
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${PROJECT_INCLUDE}/stages/noop.h
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${PROJECT_INCLUDE}/stages/predicate_filter.h
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${PROJECT_INCLUDE}/stages/connect.h
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