Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add user data support to CompositeInstruction #383

Merged
merged 1 commit into from
Sep 26, 2023
Merged

Add user data support to CompositeInstruction #383

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 15 additions & 0 deletions tesseract_command_language/include/tesseract_command_language/composite_instruction.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,13 +30,15 @@
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <vector>
#include <string>
#include <variant>
TESSERACT_COMMON_IGNORE_WARNINGS_POP

#include <tesseract_command_language/poly/instruction_poly.h>
#include <tesseract_command_language/poly/move_instruction_poly.h>
#include <tesseract_command_language/constants.h>
#include <tesseract_command_language/profile_dictionary.h>
#include <tesseract_common/manipulator_info.h>
#include <tesseract_common/any_poly.h>

namespace tesseract_planning
{
Expand Down Expand Up @@ -69,6 +71,10 @@ class CompositeInstruction
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
// LCOV_EXCL_STOP

/** User Data */
using UserDataVariant = std::variant<double, long, std::size_t, std::string, tesseract_common::AnyPoly>;
using UserData = std::unordered_map<std::string, UserDataVariant>;

/** value_type */
using value_type = InstructionPoly;
/** pointer */
Expand Down Expand Up @@ -241,6 +247,12 @@ class CompositeInstruction
*/
std::vector<std::reference_wrapper<const InstructionPoly>> flatten(const flattenFilterFn& filter = nullptr) const;

/** @brief Get user data */
UserData& getUserData();

/** @brief Get user data (const) */
const UserData& getUserData() const;

bool operator==(const CompositeInstruction& rhs) const;

bool operator!=(const CompositeInstruction& rhs) const;
Expand Down Expand Up @@ -391,6 +403,9 @@ class CompositeInstruction
/** @brief The order of the composite instruction */
CompositeInstructionOrder order_{ CompositeInstructionOrder::ORDERED };

/** @brief A container to store user data */
UserData user_data_;

const InstructionPoly* getFirstInstructionHelper(const CompositeInstruction& composite_instruction,
const locateFilterFn& locate_filter,
bool process_child_composites) const;
Expand Down
8 changes: 8 additions & 0 deletions tesseract_command_language/src/composite_instruction.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <iostream>
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/vector.hpp>
#include <boost/serialization/unordered_map.hpp>
#include <tesseract_common/std_variant_serialization.h>
#include <console_bridge/console.h>
#include <boost/uuid/uuid_generators.hpp>
#include <boost/uuid/uuid_io.hpp>
Expand Down Expand Up @@ -196,6 +198,10 @@ CompositeInstruction::flatten(const flattenFilterFn& filter) const
return flattened;
}

CompositeInstruction::UserData& CompositeInstruction::getUserData() { return user_data_; }

const CompositeInstruction::UserData& CompositeInstruction::getUserData() const { return user_data_; }

void CompositeInstruction::print(const std::string& prefix) const
{
std::cout << prefix + "Composite Instruction, Description: " << getDescription() << std::endl;
Expand All @@ -216,6 +222,7 @@ bool CompositeInstruction::operator==(const CompositeInstruction& rhs) const
equal &= (static_cast<int>(order_) == static_cast<int>(rhs.order_));
equal &= (profile_ == rhs.profile_); // NOLINT
equal &= (manipulator_info_ == rhs.manipulator_info_);
equal &= (user_data_ == rhs.user_data_);
equal &= (container_.size() == rhs.container_.size());
if (equal)
{
Expand Down Expand Up @@ -517,6 +524,7 @@ void CompositeInstruction::serialize(Archive& ar, const unsigned int /*version*/
ar& boost::serialization::make_nvp("manipulator_info", manipulator_info_);
ar& boost::serialization::make_nvp("profile", profile_);
ar& boost::serialization::make_nvp("order", order_);
ar& boost::serialization::make_nvp("user_data", user_data_);
ar& boost::serialization::make_nvp("container", container_);
}

Expand Down
Loading