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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
consistency: Begin -> Beginning
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d801c4441c
commit
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@ -32,7 +32,7 @@ public:
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virtual bool compute() = 0;
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virtual bool compute() = 0;
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const std::string& getName();
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const std::string& getName();
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const std::list<InterfaceState>& getBegin();
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const std::list<InterfaceState>& getBeginning();
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const std::list<InterfaceState>& getEnd();
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const std::list<InterfaceState>& getEnd();
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std::list<SubTrajectory>& getTrajectories();
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std::list<SubTrajectory>& getTrajectories();
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@ -57,7 +57,7 @@ protected:
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void sendBackward(SubTrajectory&, planning_scene::PlanningSceneConstPtr);
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void sendBackward(SubTrajectory&, planning_scene::PlanningSceneConstPtr);
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void sendBothWays(SubTrajectory&, planning_scene::PlanningSceneConstPtr);
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void sendBothWays(SubTrajectory&, planning_scene::PlanningSceneConstPtr);
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InterfaceState* newBegin(planning_scene::PlanningSceneConstPtr, SubTrajectory*);
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InterfaceState* newBeginning(planning_scene::PlanningSceneConstPtr, SubTrajectory*);
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InterfaceState* newEnd(planning_scene::PlanningSceneConstPtr, SubTrajectory*);
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InterfaceState* newEnd(planning_scene::PlanningSceneConstPtr, SubTrajectory*);
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const std::string name_;
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const std::string name_;
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@ -21,7 +21,7 @@ moveit::task_constructor::SubTask::getName(){
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}
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}
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const std::list<moveit::task_constructor::InterfaceState>&
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const std::list<moveit::task_constructor::InterfaceState>&
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moveit::task_constructor::SubTask::getBegin(){
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moveit::task_constructor::SubTask::getBeginning(){
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return beginnings_;
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return beginnings_;
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}
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}
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@ -85,7 +85,7 @@ void
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moveit::task_constructor::SubTask::sendForward(moveit::task_constructor::SubTrajectory& traj, planning_scene::PlanningSceneConstPtr ps){
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moveit::task_constructor::SubTask::sendForward(moveit::task_constructor::SubTrajectory& traj, planning_scene::PlanningSceneConstPtr ps){
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if( successor_ ){
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if( successor_ ){
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std::cout << "sending state forward to successor" << std::endl;
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std::cout << "sending state forward to successor" << std::endl;
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traj.end= successor_->newBegin(ps, &traj);
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traj.end= successor_->newBeginning(ps, &traj);
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}
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}
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}
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}
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@ -107,7 +107,7 @@ moveit::task_constructor::SubTask::sendBothWays(moveit::task_constructor::SubTra
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}
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}
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moveit::task_constructor::InterfaceState*
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moveit::task_constructor::InterfaceState*
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moveit::task_constructor::SubTask::newBegin(planning_scene::PlanningSceneConstPtr ps, SubTrajectory* old_end){
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moveit::task_constructor::SubTask::newBeginning(planning_scene::PlanningSceneConstPtr ps, SubTrajectory* old_end){
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assert( bool(ps) );
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assert( bool(ps) );
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beginnings_.push_back( InterfaceState(ps, old_end, NULL) );
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beginnings_.push_back( InterfaceState(ps, old_end, NULL) );
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@ -93,7 +93,7 @@ void moveit::task_constructor::Task::add( SubTaskPtr subtask ){
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void moveit::task_constructor::Task::printState(){
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void moveit::task_constructor::Task::printState(){
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for( auto& st : subtasks_ ){
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for( auto& st : subtasks_ ){
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std::cout
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std::cout
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<< st->getBegin().size() << " -> "
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<< st->getBeginning().size() << " -> "
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<< st->getTrajectories().size()
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<< st->getTrajectories().size()
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<< " <- " << st->getEnd().size()
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<< " <- " << st->getEnd().size()
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<< " / " << st->getName()
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<< " / " << st->getName()
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