Task Class Reference

#include <RobotComponents/components/MotionPlanning/Tasks/BiRRT/Task.h>

+ Inheritance diagram for Task:

Public Member Functions

void abortTask (const ::Ice::Current &) override
 
SimoxCSpacePtr getOriginalCSpace () const
 
Path getPath (const ::Ice::Current &) const override
 
void run (const RemoteObjectNodePrxList &, const ::Ice::Current &) override
 
 Task (const CSpaceBasePtr &cspace, const VectorXf &startCfg, const VectorXf &goalCfg, const std::string &taskName="BiRRTTask", Ice::Long maximalPlanningTimeInSeconds=300, float dcdStep=0.01f)
 
- Public Member Functions inherited from MotionPlanningTaskWithDefaultMembers
CSpaceBasePtr getCSpace (const Ice::Current &=Ice::emptyCurrent) const override
 
float getDcdStep (const Ice::Current &=Ice::emptyCurrent) const override
 
VectorXf getGoal (const Ice::Current &=Ice::emptyCurrent) const override
 
Ice::Long getMaximalPlanningTimeInSeconds (const Ice::Current &=Ice::emptyCurrent) const override
 
VectorXf getStart (const Ice::Current &=Ice::emptyCurrent) const override
 
 MotionPlanningTaskWithDefaultMembers (const VectorXf &startCfg, const VectorXf &goalCfg, const CSpaceBasePtr &cspace, Ice::Float dcdStep, Ice::Long maximalPlanningTimeInSeconds, const std::string &taskName)
 ctor More...
 
- Public Member Functions inherited from MotionPlanningTask
void addTaskStatusCallback (std::function< void(TaskStatus::Status)> cb)
 
Ice::Long getPlanningTime (const Ice::Current &) const override
 
MotionPlanningTaskBasePrx & getProxy ()
 
Ice::Long getRefiningTime (const Ice::Current &) const override
 
Ice::Long getRunningTime (const Ice::Current &) const override
 
std::string getTaskName (const Ice::Current &=Ice::emptyCurrent) const override
 
TaskStatus::Status getTaskStatus (const Ice::Current &=Ice::emptyCurrent) const override
 
 MotionPlanningTask ()=default
 
virtual void onPlanningDone ()
 
virtual void onRefiningDone ()
 
virtual void postEnqueueing ()
 Called by the planning server after the task was enqueued. More...
 
virtual void registerAtIceAdapter (Ice::ObjectAdapterPtr &adapter, const Ice::Identity ident)
 
bool setTaskStatus (TaskStatus::Status newTaskStatus, const Ice::Current &=Ice::emptyCurrent) override
 
 ~MotionPlanningTask () override=default
 
- Public Member Functions inherited from MotionPlanningTaskCI
bool finishedRunning (const Ice::Current &=Ice::emptyCurrent) const override
 Returns whether the task has finished planning. More...
 
bool isRunning (const Ice::Current &=Ice::emptyCurrent) const override
 Returns whether the task is currently planning. More...
 
void waitForFinishedPlanning_async (const AMD_MotionPlanningTaskControlInterface_waitForFinishedPlanningPtr &cb, const Ice::Current &=Ice::emptyCurrent) override
 
void waitForFinishedRunning_async (const AMD_MotionPlanningTaskControlInterface_waitForFinishedRunningPtr &cb, const Ice::Current &=Ice::emptyCurrent) override
 

Protected Member Functions

 Task ()=default
 
- Protected Member Functions inherited from MotionPlanningTaskWithDefaultMembers
 MotionPlanningTaskWithDefaultMembers ()=default
 

Protected Attributes

std::mutex mtx
 
Path solution = {{}, "BiRRT-Path"}
 
std::atomic_bool taskIsAborted {false}
 
- Protected Attributes inherited from MotionPlanningTask
Ice::Long planningTime = 0
 The planning time in microseconds. More...
 
Ice::Long refiningTime = 0
 The refining time in microseconds. More...
 
- Protected Attributes inherited from MotionPlanningTaskCI
AMDCallbackCollection waitForFinishedPlanning
 
AMDCallbackCollection waitForFinishedRunning
 

Friends

template<class Base , class Derived >
class ::armarx::GenericFactory
 

Detailed Description

Definition at line 34 of file Task.h.

Constructor & Destructor Documentation

◆ Task() [1/2]

Task ( const CSpaceBasePtr &  cspace,
const VectorXf &  startCfg,
const VectorXf &  goalCfg,
const std::string &  taskName = "BiRRTTask",
Ice::Long  maximalPlanningTimeInSeconds = 300,
float  dcdStep = 0.01f 
)

Definition at line 40 of file Task.cpp.

◆ Task() [2/2]

Task ( )
protecteddefault

Member Function Documentation

◆ abortTask()

void abortTask ( const ::Ice::Current &  )
override

Definition at line 55 of file Task.cpp.

◆ getOriginalCSpace()

SimoxCSpacePtr getOriginalCSpace ( ) const

Definition at line 228 of file Task.cpp.

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◆ getPath()

Path getPath ( const ::Ice::Current &  ) const
override

Definition at line 59 of file Task.cpp.

◆ run()

void run ( const RemoteObjectNodePrxList &  ,
const ::Ice::Current &   
)
override

Definition at line 65 of file Task.cpp.

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Friends And Related Function Documentation

◆ ::armarx::GenericFactory

friend class ::armarx::GenericFactory
friend

Definition at line 65 of file Task.h.

Member Data Documentation

◆ mtx

std::mutex mtx
mutableprotected

Definition at line 61 of file Task.h.

◆ solution

Path solution = {{}, "BiRRT-Path"}
protected

Definition at line 62 of file Task.h.

◆ taskIsAborted

std::atomic_bool taskIsAborted {false}
protected

Definition at line 63 of file Task.h.


The documentation for this class was generated from the following files: