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.

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

• RobotComponents/components/MotionPlanning/Tasks/BiRRT/Task.h
• RobotComponents/components/MotionPlanning/Tasks/BiRRT/Task.cpp