moveit_task_constructor/include/moveit_task_constructor/container.h
Robert Haschke f103341356 separate reset() + init()
deducedFlags() -> interfaceFlags()
removed announcedFlags()
2017-10-20 16:40:11 +02:00

67 lines
2.0 KiB
C++

#pragma once
#include "stage.h"
namespace moveit { namespace task_constructor {
class ContainerBasePrivate;
class ContainerBase : public Stage
{
public:
PRIVATE_CLASS(ContainerBase)
size_t numChildren() const;
typedef std::function<bool(const Stage&, int depth)> StageCallback;
/// traverse direct children of this container, calling the callback for each of them
bool traverseChildren(const StageCallback &processor) const;
/// traverse all children of this container recursively
bool traverseRecursively(const StageCallback &processor) const;
virtual bool insert(Stage::pointer&& stage, int before = -1);
virtual void clear();
virtual bool canCompute() const = 0;
virtual bool compute() = 0;
size_t numSolutions() const = 0;
protected:
ContainerBase(ContainerBasePrivate* impl);
};
class SerialContainerPrivate;
class SerialContainer : public ContainerBase
{
public:
PRIVATE_CLASS(SerialContainer)
SerialContainer(const std::string& name);
void reset() override;
void init(const planning_scene::PlanningSceneConstPtr &scene) override;
bool canCompute() const override;
bool compute() override;
size_t numSolutions() const override;
/// function type used for traversing solutions
/// For each sub solution (current), the trace from the start as well as the
/// accumulated cost of all solutions in the trace are provided.
/// Return true, if traversal should continue, otherwise false.
typedef std::function<bool(const SolutionBase& current,
const std::vector<const SolutionBase*>& trace,
double trace_accumulated_cost)> SolutionCallback;
protected:
/// traverse all solutions, starting at start and call the callback for each subsolution
/// The return value is always false, indicating that the traversal eventually stopped.
template<TraverseDirection dir>
bool traverse(const SolutionBase &start, const SolutionCallback &cb,
std::vector<const SolutionBase*> &trace, double trace_cost = 0);
protected:
SerialContainer(SerialContainerPrivate* impl);
};
} }