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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
add more (commented-out) debug statements
Also print generator symbol for completeness.
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@ -295,9 +295,9 @@ static void printChildrenInterfaces(const ContainerBase& container, bool success
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for (const auto& child : container.pimpl()->children()) {
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for (const auto& child : container.pimpl()->children()) {
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auto cimpl = child->pimpl();
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auto cimpl = child->pimpl();
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if (!cimpl->starts() && !cimpl->ends())
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continue; // skip generator
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os << std::setw(width) << std::left << child->name();
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os << std::setw(width) << std::left << child->name();
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if (!cimpl->starts() && !cimpl->ends())
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os << "↕ " << std::endl;
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if (cimpl->starts())
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if (cimpl->starts())
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os << "↓ " << *child->pimpl()->starts() << std::endl;
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os << "↓ " << *child->pimpl()->starts() << std::endl;
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if (cimpl->starts() && cimpl->ends())
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if (cimpl->starts() && cimpl->ends())
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@ -399,6 +399,7 @@ void SerialContainer::onNewSolution(const SolutionBase& current) {
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}
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}
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}
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}
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}
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}
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// printChildrenInterfaces(*this, true, *current.creator());
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// finally, store + announce new solutions to external interface
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// finally, store + announce new solutions to external interface
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for (const auto& solution : sorted)
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for (const auto& solution : sorted)
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@ -429,6 +430,7 @@ void SerialContainer::onNewFailure(const Stage& child, const InterfaceState* fro
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}
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}
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break;
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break;
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}
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}
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// printChildrenInterfaces(*this, false, child);
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}
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}
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SerialContainer::SerialContainer(SerialContainerPrivate* impl) : ContainerBase(impl) {}
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SerialContainer::SerialContainer(SerialContainerPrivate* impl) : ContainerBase(impl) {}
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@ -761,6 +761,9 @@ void ConnectingPrivate::newState(Interface::iterator it, bool updated) {
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}
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}
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}
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}
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}
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}
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// std::cerr << name_ << ": ";
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// printPendingPairs(std::cerr);
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// std::cerr << std::endl;
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}
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}
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// Check whether there are pending feasible states that could connect to source.
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// Check whether there are pending feasible states that could connect to source.
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