armarx::MotionPlanningTaskBase

Overview

[ "cpp:virtual" ] class MotionPlanningTaskBase implements MotionPlanningTaskControlInterface

@brief Abstract base holding the data required to execute a planning task. The algorithm is specified in derived classes. The c++ side requires a function to create a server side task. (since this is an implementation detail this function is not part of the slice interface)

Derived Classes and Interfaces

MotionPlanningTaskWithDefaultMembersBase

PostprocessingMotionPlanningTaskBase

pathcol::TaskBase

Used By

MotionPlanningServerInterface::enqueueTask

PostprocessingMotionPlanningTaskBase::previousStep

Operation Index

run

@brief Runs the task and blocks until it is finished (done/arborted/failed) The function is protected, since it should only be called locally on the server side.

setTaskStatus

getCSpace

@return The CSpace.

getMaximalPlanningTimeInSeconds

@return The goal config.

getTaskName

Data Member Index

taskName

Operations

void run(RemoteObjectNodePrxList remoteObjectNodes)

@brief Runs the task and blocks until it is finished (done/arborted/failed) The function is protected, since it should only be called locally on the server side.

Parameters

remoteObjectNodes

The remote object nodes to use for calculation

bool setTaskStatus(TaskStatus::Status newTaskStatus)

CSpaceBase getCSpace()

Return Value

The CSpace.

long getMaximalPlanningTimeInSeconds()

string getTaskName()

[ "protected" ] string taskName;