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https://github.com/moveit/moveit_task_constructor.git
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reset(new Interface()) -> std::make_shared<Interface>()
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@ -606,9 +606,9 @@ void SerialContainerPrivate::resolveInterface(InterfaceFlags expected) {
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validateInterface<START_IF_MASK>(*first.pimpl(), expected);
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// connect first child's (start) pull interface
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if (const InterfacePtr& target = first.pimpl()->starts())
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starts_.reset(new Interface([this, target](Interface::iterator it, bool updated) {
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starts_ = std::make_shared<Interface>([this, target](Interface::iterator it, bool updated) {
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this->copyState<Interface::FORWARD>(it, target, updated);
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}));
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});
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} catch (InitStageException& e) {
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exceptions.append(e);
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}
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@ -632,9 +632,9 @@ void SerialContainerPrivate::resolveInterface(InterfaceFlags expected) {
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validateInterface<END_IF_MASK>(*last.pimpl(), expected);
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// connect last child's (end) pull interface
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if (const InterfacePtr& target = last.pimpl()->ends())
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ends_.reset(new Interface([this, target](Interface::iterator it, bool updated) {
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ends_ = std::make_shared<Interface>([this, target](Interface::iterator it, bool updated) {
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this->copyState<Interface::BACKWARD>(it, target, updated);
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}));
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});
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} catch (InitStageException& e) {
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exceptions.append(e);
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}
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@ -733,13 +733,13 @@ void ParallelContainerBasePrivate::resolveInterface(InterfaceFlags expected) {
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void ParallelContainerBasePrivate::initializeExternalInterfaces() {
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// States received by the container need to be copied to all children's pull interfaces.
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if (requiredInterface() & READS_START)
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starts().reset(new Interface([this](Interface::iterator external, bool updated) {
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starts() = std::make_shared<Interface>([this](Interface::iterator external, bool updated) {
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this->propagateStateToChildren<Interface::FORWARD>(external, updated);
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}));
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});
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if (requiredInterface() & READS_END)
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ends().reset(new Interface([this](Interface::iterator external, bool updated) {
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ends() = std::make_shared<Interface>([this](Interface::iterator external, bool updated) {
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this->propagateStateToChildren<Interface::BACKWARD>(external, updated);
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}));
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});
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}
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void ParallelContainerBasePrivate::validateInterfaces(const StagePrivate& child, InterfaceFlags& external,
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@ -510,14 +510,14 @@ void PropagatingEitherWayPrivate::initInterface(PropagatingEitherWay::Direction
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case PropagatingEitherWay::FORWARD:
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required_interface_ = PROPAGATE_FORWARDS;
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if (!starts_) // keep existing interface if possible
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starts_.reset(new Interface());
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starts_ = std::make_shared<Interface>();
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ends_.reset();
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return;
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case PropagatingEitherWay::BACKWARD:
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required_interface_ = PROPAGATE_BACKWARDS;
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starts_.reset();
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if (!ends_) // keep existing interface if possible
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ends_.reset(new Interface());
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ends_ = std::make_shared<Interface>();
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return;
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case PropagatingEitherWay::AUTO:
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required_interface_ = UNKNOWN;
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@ -715,10 +715,10 @@ void MonitoringGeneratorPrivate::solutionCB(const SolutionBase& s) {
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}
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ConnectingPrivate::ConnectingPrivate(Connecting* me, const std::string& name) : ComputeBasePrivate(me, name) {
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starts_.reset(new Interface(std::bind(&ConnectingPrivate::newState<Interface::BACKWARD>, this, std::placeholders::_1,
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std::placeholders::_2)));
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ends_.reset(new Interface(std::bind(&ConnectingPrivate::newState<Interface::FORWARD>, this, std::placeholders::_1,
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std::placeholders::_2)));
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starts_ = std::make_shared<Interface>(std::bind(&ConnectingPrivate::newState<Interface::BACKWARD>, this,
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std::placeholders::_1, std::placeholders::_2));
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ends_ = std::make_shared<Interface>(
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std::bind(&ConnectingPrivate::newState<Interface::FORWARD>, this, std::placeholders::_1, std::placeholders::_2));
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}
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InterfaceFlags ConnectingPrivate::requiredInterface() const {
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