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| 1 | +/********************************************************************* |
| 2 | + * Software License Agreement (BSD License) |
| 3 | + * |
| 4 | + * Copyright (c) 2024, Sherbrooke University |
| 5 | + * All rights reserved. |
| 6 | + * |
| 7 | + * Redistribution and use in source and binary forms, with or without |
| 8 | + * modification, are permitted provided that the following conditions |
| 9 | + * are met: |
| 10 | + * |
| 11 | + * * Redistributions of source code must retain the above copyright |
| 12 | + * notice, this list of conditions and the following disclaimer. |
| 13 | + * * Redistributions in binary form must reproduce the above |
| 14 | + * copyright notice, this list of conditions and the following |
| 15 | + * disclaimer in the documentation and/or other materials provided |
| 16 | + * with the distribution. |
| 17 | + * * Neither the name of Bielefeld University nor the names of its |
| 18 | + * contributors may be used to endorse or promote products derived |
| 19 | + * from this software without specific prior written permission. |
| 20 | + * |
| 21 | + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 22 | + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 23 | + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| 24 | + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| 25 | + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| 26 | + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| 27 | + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| 28 | + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| 29 | + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| 30 | + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| 31 | + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 32 | + * POSSIBILITY OF SUCH DAMAGE. |
| 33 | + *********************************************************************/ |
| 34 | +/* Authors: Captain Yoshi */ |
| 35 | + |
| 36 | +#pragma once |
| 37 | + |
| 38 | +#include <moveit/task_constructor/stage.h> |
| 39 | +#include <moveit/planning_scene/planning_scene.hpp> |
| 40 | + |
| 41 | +namespace moveit { |
| 42 | +namespace task_constructor { |
| 43 | +namespace stages { |
| 44 | + |
| 45 | +/** no-op stage, which doesn't modify the interface state nor adds a trajectory. |
| 46 | + * However, it can be used to store custom stage properties, |
| 47 | + * which in turn can be queried post-planning to steer the execution. |
| 48 | + */ |
| 49 | + |
| 50 | +class NoOp : public PropagatingEitherWay |
| 51 | +{ |
| 52 | +public: |
| 53 | + NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name){}; |
| 54 | + |
| 55 | +private: |
| 56 | + bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr& scene, SubTrajectory& /*trajectory*/, |
| 57 | + Interface::Direction /*dir*/) override { |
| 58 | + scene = state.scene()->diff(); |
| 59 | + return true; |
| 60 | + }; |
| 61 | +}; |
| 62 | +} // namespace stages |
| 63 | +} // namespace task_constructor |
| 64 | +} // namespace moveit |
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