From a0c00646c2c93da9eea3d625f0865e8d22b248e4 Mon Sep 17 00:00:00 2001 From: Captain Yoshi Date: Fri, 24 May 2024 08:34:27 -0400 Subject: [PATCH] Add NoOp stage (#534) This stage can be used to add arbitrary user-defined properties w/o modifying the PlanningScene state or adding a trajectory. Co-authored-by: Robert Haschke --- .../moveit/task_constructor/stages/noop.h | 64 +++++++++++++++++++ core/src/stages/CMakeLists.txt | 1 + 2 files changed, 65 insertions(+) create mode 100644 core/include/moveit/task_constructor/stages/noop.h diff --git a/core/include/moveit/task_constructor/stages/noop.h b/core/include/moveit/task_constructor/stages/noop.h new file mode 100644 index 000000000..02f41994f --- /dev/null +++ b/core/include/moveit/task_constructor/stages/noop.h @@ -0,0 +1,64 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2024, Sherbrooke University + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Bielefeld University nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +/* Authors: Captain Yoshi */ + +#pragma once + +#include +#include + +namespace moveit { +namespace task_constructor { +namespace stages { + +/** no-op stage, which doesn't modify the interface state nor adds a trajectory. + * However, it can be used to store custom stage properties, + * which in turn can be queried post-planning to steer the execution. + */ + +class NoOp : public PropagatingEitherWay +{ +public: + NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name){}; + +private: + bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr& scene, SubTrajectory& /*trajectory*/, + Interface::Direction /*dir*/) override { + scene = state.scene()->diff(); + return true; + }; +}; +} // namespace stages +} // namespace task_constructor +} // namespace moveit diff --git a/core/src/stages/CMakeLists.txt b/core/src/stages/CMakeLists.txt index cc0fa03b2..25b1e5d64 100644 --- a/core/src/stages/CMakeLists.txt +++ b/core/src/stages/CMakeLists.txt @@ -11,6 +11,7 @@ add_library(${PROJECT_NAME}_stages ${PROJECT_INCLUDE}/stages/generate_place_pose.h ${PROJECT_INCLUDE}/stages/compute_ik.h ${PROJECT_INCLUDE}/stages/passthrough.h + ${PROJECT_INCLUDE}/stages/noop.h ${PROJECT_INCLUDE}/stages/predicate_filter.h ${PROJECT_INCLUDE}/stages/connect.h