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https://github.com/moveit/moveit_task_constructor.git
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add a simple printState function to task
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63e1d4fd78
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@ -30,6 +30,8 @@ public:
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bool plan();
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void printState();
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protected:
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void addSubTask( SubTaskPtr );
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@ -61,5 +61,8 @@ int main(int argc, char** argv){
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*/
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t.plan();
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t.printState();
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return 0;
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}
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14
src/task.cpp
14
src/task.cpp
@ -52,15 +52,25 @@ void moveit::task_constructor::Task::addAfter( SubTaskPtr subtask ){
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bool moveit::task_constructor::Task::plan(){
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for( SubTaskPtr& subtask : subtasks_ ){
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std::cout << "Computing subtask '" << subtask->getName() << "': ";
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std::cout << "Computing subtask '" << subtask->getName() << "': " << std::endl;
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bool success= subtask->compute();
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std::cout << (success ? "succeeded" : "failed") << std::endl;
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}
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return false;
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}
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void moveit::task_constructor::Task::addSubTask( SubTaskPtr subtask ){
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subtask->setPlanningScene( scene_ );
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subtasks_.push_back( subtask );
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}
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void moveit::task_constructor::Task::printState(){
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for( auto& st : subtasks_ ){
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std::cout
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<< st->getBegin().size() << " -> "
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<< st->getTrajectories().size()
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<< " <- " << st->getEnd().size()
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<< " / " << st->getName()
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<< std::endl;
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}
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}
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