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fix comments + typos
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@ -56,16 +56,22 @@ class StagePrivate {
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friend std::ostream& operator<<(std::ostream& os, const StagePrivate& stage);
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public:
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// container type used to store children
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/// container type used to store children
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typedef std::list<Stage::pointer> container_type;
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StagePrivate(Stage* me, const std::string& name);
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virtual ~StagePrivate() = default;
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/// actually configured interface of this stage (only valid after init())
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InterfaceFlags interfaceFlags() const;
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// retrieve description of the interface required by this stage
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// if this is unknown (because interface is auto-detected from context), return 0
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/** Interface required by this stage
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*
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* If the interface is unknown (because it is auto-detected from context), return 0 */
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virtual InterfaceFlags requiredInterface() const = 0;
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// prune interface to the given propagation direction
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/** Prune interface to comply with the given propagation direction
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*
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* PropagatingEitherWay uses this in restrictDirection() */
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virtual void pruneInterface(InterfaceFlags accepted) {}
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virtual bool canCompute() const = 0;
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@ -367,8 +367,8 @@ SerialContainerPrivate::SerialContainerPrivate(SerialContainer *me, const std::s
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: ContainerBasePrivate(me, name)
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{}
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// a serial container's required interface is derived from the required input interface
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// of the first child and the required output interface of the last child
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// a serial container's required interface is derived from the actual input interface
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// of the first child and the actual output interface of the last child
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InterfaceFlags SerialContainerPrivate::requiredInterface() const
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{
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if (children().empty())
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@ -424,7 +424,8 @@ void SerialContainer::init(const moveit::core::RobotModelConstPtr& robot_model)
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impl->starts_.reset();
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impl->ends_.reset();
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ContainerBase::init(robot_model); // throws if there are no children
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// recursively init all children, throws if there are no children
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ContainerBase::init(robot_model);
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auto start = impl->children().begin();
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auto last = --impl->children().end();
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@ -582,7 +583,7 @@ void SerialContainer::validateConnectivity() const
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// start pull interface fed?
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if (cur != impl->children().begin() && // first child has not a previous one
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(required & READS_START) && !(*prev)->pimpl()->nextStarts())
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errors.push_back(**cur, "end interface is not fed");
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errors.push_back(**cur, "start interface is not fed");
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// end pull interface fed?
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if (next != end && // last child has not a next one
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@ -519,7 +519,7 @@ void PropagatingEitherWay::init(const moveit::core::RobotModelConstPtr& robot_mo
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// pretend that we offer both interface directions during init().
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// This is needed due to a chicken-egg-problem: interface auto-detection requires
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// the context (external pushing interfaces prevEnds, nextStarts) to be set,
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// while the are ony set if we detected the correct interface...
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// while they are ony set if we detected the correct interface...
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if (impl->required_interface_dirs_ == AUTO)
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impl->initInterface(BOTHWAY);
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// otherwise the interface is already fixed and well-defined
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