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Fix Task's move constructor (#371)
* Add unit test * Fix TaskPrivate's move assignment operator * Slightly simplify code Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
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@ -77,10 +77,12 @@ TaskPrivate::TaskPrivate(Task* me, const std::string& ns)
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TaskPrivate& TaskPrivate::operator=(TaskPrivate&& other) {
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TaskPrivate& TaskPrivate::operator=(TaskPrivate&& other) {
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this->WrapperBasePrivate::operator=(std::move(other));
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this->WrapperBasePrivate::operator=(std::move(other));
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ns_ = std::move(other.ns_);
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ns_ = std::move(other.ns_);
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introspection_ = std::move(other.introspection_);
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robot_model_ = std::move(other.robot_model_);
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robot_model_ = std::move(other.robot_model_);
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robot_model_loader_ = std::move(other.robot_model_loader_);
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robot_model_loader_ = std::move(other.robot_model_loader_);
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task_cbs_ = std::move(other.task_cbs_);
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task_cbs_ = std::move(other.task_cbs_);
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// Ensure same introspection status, but keep the existing introspection instance,
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// which stores this task pointer and includes it in its task_id_
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static_cast<Task*>(me_)->enableIntrospection(static_cast<bool>(other.introspection_));
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return *this;
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return *this;
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}
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}
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@ -209,17 +211,17 @@ void Task::init() {
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stages()->pimpl()->resolveInterface(InterfaceFlags({ GENERATE }));
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stages()->pimpl()->resolveInterface(InterfaceFlags({ GENERATE }));
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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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auto* introspection = impl->introspection_.get();
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impl->traverseStages(
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impl->traverseStages(
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[impl](Stage& stage, int /*depth*/) {
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[introspection](Stage& stage, int /*depth*/) {
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stage.pimpl()->setIntrospection(impl->introspection_.get());
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stage.pimpl()->setIntrospection(introspection);
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return true;
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return true;
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},
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},
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1, UINT_MAX);
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1, UINT_MAX);
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// first time publish task
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// first time publish task
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if (impl->introspection_)
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if (introspection)
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impl->introspection_->publishTaskDescription();
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introspection->publishTaskDescription();
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}
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}
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bool Task::canCompute() const {
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bool Task::canCompute() const {
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@ -1,4 +1,5 @@
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#include "models.h"
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#include "models.h"
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#include "stage_mockups.h"
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#include <moveit/task_constructor/task.h>
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#include <moveit/task_constructor/task.h>
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#include <moveit/task_constructor/stages/move_to.h>
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#include <moveit/task_constructor/stages/move_to.h>
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@ -160,6 +161,34 @@ TEST_F(PandaMoveTo, poseIKFrameAttachedSubframeTarget) {
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}
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}
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#endif
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#endif
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// This test require a running rosmaster
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TEST(Task, taskMoveConstructor) {
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auto create_task = [] {
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moveit::core::RobotModelConstPtr robot_model = getModel();
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Task t("first");
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t.setRobotModel(robot_model);
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auto ref = new stages::FixedState("fixed");
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auto scene = std::make_shared<planning_scene::PlanningScene>(t.getRobotModel());
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ref->setState(scene);
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t.add(Stage::pointer(ref));
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t.add(std::make_unique<ConnectMockup>());
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t.add(std::make_unique<MonitoringGeneratorMockup>(ref));
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return t;
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};
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// Segfaults when introspection is enabled
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Task t;
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t = create_task();
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try {
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t.init();
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EXPECT_TRUE(t.plan(1));
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} catch (const InitStageException& e) {
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ADD_FAILURE() << "InitStageException:" << std::endl << e << t;
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}
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}
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int main(int argc, char** argv) {
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int main(int argc, char** argv) {
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testing::InitGoogleTest(&argc, argv);
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testing::InitGoogleTest(&argc, argv);
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ros::init(argc, argv, "move_to_test");
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ros::init(argc, argv, "move_to_test");
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