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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Captain Yoshi 2024-05-24 08:34:27 -04:00 committed by GitHub
parent 54e653ebdb
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@ -0,0 +1,64 @@
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/* Authors: Captain Yoshi */
#pragma once
#include <moveit/task_constructor/stage.h>
#include <moveit/planning_scene/planning_scene.h>
namespace moveit {
namespace task_constructor {
namespace stages {
/** no-op stage, which doesn't modify the interface state nor adds a trajectory.
* However, it can be used to store custom stage properties,
* which in turn can be queried post-planning to steer the execution.
*/
class NoOp : public PropagatingEitherWay
{
public:
NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name){};
private:
bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr& scene, SubTrajectory& /*trajectory*/,
Interface::Direction /*dir*/) override {
scene = state.scene()->diff();
return true;
};
};
} // namespace stages
} // namespace task_constructor
} // namespace moveit

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@ -11,6 +11,7 @@ add_library(${PROJECT_NAME}_stages
${PROJECT_INCLUDE}/stages/generate_place_pose.h
${PROJECT_INCLUDE}/stages/compute_ik.h
${PROJECT_INCLUDE}/stages/passthrough.h
${PROJECT_INCLUDE}/stages/noop.h
${PROJECT_INCLUDE}/stages/predicate_filter.h
${PROJECT_INCLUDE}/stages/connect.h