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https://github.com/moveit/moveit_task_constructor.git
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clang-tidy: readability-named-parameters
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@ -4,6 +4,7 @@ Checks: '-*,
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modernize-use-override,
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modernize-use-override,
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modernize-use-using,
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modernize-use-using,
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modernize-loop-convert,
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modernize-loop-convert,
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readability-named-parameter,
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'
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'
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HeaderFilterRegex: '.*/moveit/task_constructor/.*\.h'
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HeaderFilterRegex: '.*/moveit/task_constructor/.*\.h'
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AnalyzeTemporaryDtors: false
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AnalyzeTemporaryDtors: false
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@ -166,7 +166,8 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
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exec_traj.trajectory_->setRobotTrajectoryMsg(state, sub_traj.trajectory);
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exec_traj.trajectory_->setRobotTrajectoryMsg(state, sub_traj.trajectory);
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/* TODO add action feedback and markers */
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/* TODO add action feedback and markers */
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exec_traj.effect_on_success_ = [this, sub_traj, description](const plan_execution::ExecutableMotionPlan*) {
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exec_traj.effect_on_success_ = [this, sub_traj,
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description](const plan_execution::ExecutableMotionPlan* /*plan*/) {
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#if MOVEIT_MASTER
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#if MOVEIT_MASTER
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if (!moveit::core::isEmpty(sub_traj.scene_diff)) {
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if (!moveit::core::isEmpty(sub_traj.scene_diff)) {
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#else
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#else
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@ -194,8 +194,8 @@ public:
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using SerializeFunction = std::string (*)(const boost::any&);
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using SerializeFunction = std::string (*)(const boost::any&);
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using DeserializeFunction = boost::any (*)(const std::string&);
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using DeserializeFunction = boost::any (*)(const std::string&);
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static std::string dummySerialize(const boost::any&) { return ""; }
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static std::string dummySerialize(const boost::any& /*unused*/) { return ""; }
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static boost::any dummyDeserialize(const std::string&) { return boost::any(); }
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static boost::any dummyDeserialize(const std::string& /*unused*/) { return boost::any(); }
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protected:
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protected:
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static bool insert(const std::type_index& type_index, const std::string& type_name, SerializeFunction serialize,
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static bool insert(const std::type_index& type_index, const std::string& type_name, SerializeFunction serialize,
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@ -104,7 +104,7 @@ protected:
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decltype(std::declval<SolutionBase>().markers()) & markers);
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decltype(std::declval<SolutionBase>().markers()) & markers);
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bool getPointGoal(const boost::any& goal, const moveit::core::LinkModel* link,
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bool getPointGoal(const boost::any& goal, const moveit::core::LinkModel* link,
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const planning_scene::PlanningScenePtr& scene, Eigen::Isometry3d& target_eigen,
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const planning_scene::PlanningScenePtr& scene, Eigen::Isometry3d& target_eigen,
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decltype(std::declval<SolutionBase>().markers()) &);
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decltype(std::declval<SolutionBase>().markers()) & /*unused*/);
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protected:
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protected:
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solvers::PlannerInterfacePtr planner_;
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solvers::PlannerInterfacePtr planner_;
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@ -204,7 +204,7 @@ void Introspection::fillStageStatistics(const Stage& stage, moveit_task_construc
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moveit_task_constructor_msgs::TaskDescription&
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moveit_task_constructor_msgs::TaskDescription&
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Introspection::fillTaskDescription(moveit_task_constructor_msgs::TaskDescription& msg) {
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Introspection::fillTaskDescription(moveit_task_constructor_msgs::TaskDescription& msg) {
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ContainerBase::StageCallback stageProcessor = [this, &msg](const Stage& stage, unsigned int) -> bool {
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ContainerBase::StageCallback stageProcessor = [this, &msg](const Stage& stage, unsigned int /*depth*/) -> bool {
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// this method is called for each child stage of a given parent
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// this method is called for each child stage of a given parent
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moveit_task_constructor_msgs::StageDescription desc;
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moveit_task_constructor_msgs::StageDescription desc;
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desc.id = stageId(&stage);
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desc.id = stageId(&stage);
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@ -240,7 +240,7 @@ Introspection::fillTaskDescription(moveit_task_constructor_msgs::TaskDescription
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moveit_task_constructor_msgs::TaskStatistics&
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moveit_task_constructor_msgs::TaskStatistics&
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Introspection::fillTaskStatistics(moveit_task_constructor_msgs::TaskStatistics& msg) {
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Introspection::fillTaskStatistics(moveit_task_constructor_msgs::TaskStatistics& msg) {
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ContainerBase::StageCallback stageProcessor = [this, &msg](const Stage& stage, unsigned int) -> bool {
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ContainerBase::StageCallback stageProcessor = [this, &msg](const Stage& stage, unsigned int /*depth*/) -> bool {
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// this method is called for each child stage of a given parent
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// this method is called for each child stage of a given parent
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moveit_task_constructor_msgs::StageStatistics stat; // create new Stage msg
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moveit_task_constructor_msgs::StageStatistics stat; // create new Stage msg
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stat.id = stageId(&stage);
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stat.id = stageId(&stage);
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@ -147,7 +147,7 @@ bool MoveTo::getPoseGoal(const boost::any& goal, const geometry_msgs::PoseStampe
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bool MoveTo::getPointGoal(const boost::any& goal, const moveit::core::LinkModel* link,
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bool MoveTo::getPointGoal(const boost::any& goal, const moveit::core::LinkModel* link,
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const planning_scene::PlanningScenePtr& scene, Eigen::Isometry3d& target_eigen,
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const planning_scene::PlanningScenePtr& scene, Eigen::Isometry3d& target_eigen,
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decltype(std::declval<SolutionBase>().markers()) &) {
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decltype(std::declval<SolutionBase>().markers()) & /*unused*/) {
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try {
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try {
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const geometry_msgs::PointStamped& target = boost::any_cast<geometry_msgs::PointStamped>(goal);
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const geometry_msgs::PointStamped& target = boost::any_cast<geometry_msgs::PointStamped>(goal);
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Eigen::Vector3d target_point;
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Eigen::Vector3d target_point;
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@ -160,6 +160,8 @@ bool MoveTo::getPointGoal(const boost::any& goal, const moveit::core::LinkModel*
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// retain link orientation
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// retain link orientation
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target_eigen = scene->getCurrentState().getGlobalLinkTransform(link);
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target_eigen = scene->getCurrentState().getGlobalLinkTransform(link);
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target_eigen.translation() = target_point;
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target_eigen.translation() = target_point;
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// TODO: add marker visualization
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} catch (const boost::bad_any_cast&) {
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} catch (const boost::bad_any_cast&) {
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return false;
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return false;
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}
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}
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@ -219,7 +219,7 @@ void Task::enableIntrospection(bool enable) {
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// reset introspection instance of all stages
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// reset introspection instance of all stages
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pimpl()->setIntrospection(nullptr);
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pimpl()->setIntrospection(nullptr);
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pimpl()->traverseStages(
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pimpl()->traverseStages(
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[](Stage& stage, int) {
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[](Stage& stage, int /*depth*/) {
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stage.pimpl()->setIntrospection(nullptr);
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stage.pimpl()->setIntrospection(nullptr);
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return true;
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return true;
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},
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},
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@ -271,7 +271,7 @@ void Task::init() {
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// provide introspection instance to all stages
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// provide introspection instance to all stages
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impl->setIntrospection(impl->introspection_.get());
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impl->setIntrospection(impl->introspection_.get());
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impl->traverseStages(
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impl->traverseStages(
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[impl](Stage& stage, int) {
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[impl](Stage& stage, int /*depth*/) {
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stage.pimpl()->setIntrospection(impl->introspection_.get());
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stage.pimpl()->setIntrospection(impl->introspection_.get());
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return true;
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return true;
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},
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},
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@ -33,7 +33,7 @@ public:
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: MonitoringGenerator("monitoring generator " + std::to_string(++mock_id), monitored) {}
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: MonitoringGenerator("monitoring generator " + std::to_string(++mock_id), monitored) {}
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bool canCompute() const override { return false; }
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bool canCompute() const override { return false; }
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void compute() override {}
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void compute() override {}
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void onNewSolution(const SolutionBase&) override {}
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void onNewSolution(const SolutionBase& /*solution*/) override {}
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};
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};
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class PropagatorMockup : public PropagatingEitherWay
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class PropagatorMockup : public PropagatingEitherWay
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@ -49,7 +49,8 @@ namespace mtc = ::moveit::task_constructor;
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namespace moveit_rviz_plugin {
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namespace moveit_rviz_plugin {
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static rviz::StringProperty* stringFactory(const QString& name, mtc::Property& mtc_prop,
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static rviz::StringProperty* stringFactory(const QString& name, mtc::Property& mtc_prop,
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const planning_scene::PlanningScene*, rviz::DisplayContext*) {
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const planning_scene::PlanningScene* /*unused*/,
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rviz::DisplayContext* /*unused*/) {
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std::string value;
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std::string value;
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if (!mtc_prop.value().empty())
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if (!mtc_prop.value().empty())
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value = boost::any_cast<std::string>(mtc_prop.value());
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value = boost::any_cast<std::string>(mtc_prop.value());
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@ -61,7 +62,8 @@ static rviz::StringProperty* stringFactory(const QString& name, mtc::Property& m
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}
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}
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template <typename T>
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template <typename T>
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static rviz::FloatProperty* floatFactory(const QString& name, mtc::Property& mtc_prop,
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static rviz::FloatProperty* floatFactory(const QString& name, mtc::Property& mtc_prop,
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const planning_scene::PlanningScene*, rviz::DisplayContext*) {
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const planning_scene::PlanningScene* /*unused*/,
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rviz::DisplayContext* /*unused*/) {
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T value = !mtc_prop.value().empty() ? boost::any_cast<T>(mtc_prop.value()) : T();
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T value = !mtc_prop.value().empty() ? boost::any_cast<T>(mtc_prop.value()) : T();
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rviz::FloatProperty* rviz_prop =
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rviz::FloatProperty* rviz_prop =
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new rviz::FloatProperty(name, value, QString::fromStdString(mtc_prop.description()));
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new rviz::FloatProperty(name, value, QString::fromStdString(mtc_prop.description()));
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@ -119,7 +119,7 @@ public Q_SLOTS:
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void interruptCurrentDisplay();
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void interruptCurrentDisplay();
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private Q_SLOTS:
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private Q_SLOTS:
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void onAllAtOnceChanged(bool);
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void onAllAtOnceChanged(bool all_at_once);
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// trajectory property slots
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// trajectory property slots
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void changedRobotVisualEnabled();
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void changedRobotVisualEnabled();
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