MotionPlanningTaskControlInterface.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotComponents
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */
 
#include "MotionPlanningTaskControlInterface.h"
 
#include "../util/PlanningUtil.h"
 
namespace armarx
{
    PathSeq
    MotionPlanningMultiPathWithCostTaskCI::getAllPaths(const Ice::Current&) const
    {
        PathSeq result;
        auto paths = getAllPathsWithCost();
        result.reserve(paths.size());
        std::transform(paths.begin(),
                       paths.end(),
                       std::back_inserter(result),
                       [](PathWithCost& p) {
                           return Path{std::move(p.nodes), std::move(p.pathName)};
                       });
        return result;
    }
 
    bool
    MotionPlanningTaskCI::isRunning(const Ice::Current&) const
    {
        return TaskStatus::isRunning(getTaskStatus());
    }
 
    bool
    MotionPlanningTaskCI::finishedRunning(const Ice::Current&) const
    {
        return TaskStatus::finishedRunning(getTaskStatus());
    }
 
} // namespace armarx