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Add TaskComposerPipeline and improve task composer code coverage (#337)
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tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/abort_task.h
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| /** | ||
| * @file abort_task.h | ||
| * | ||
| * @author Levi Armstrong | ||
| * @date June 22, 2023 | ||
| * @version TODO | ||
| * @bug No known bugs | ||
| * | ||
| * @copyright Copyright (c) 2023, Levi Armstrong | ||
| * | ||
| * @par License | ||
| * Software License Agreement (Apache License) | ||
| * @par | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * @par | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
| #ifndef TESSERACT_TASK_COMPOSER_ABORT_TASK_H | ||
| #define TESSERACT_TASK_COMPOSER_ABORT_TASK_H | ||
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| #include <tesseract_common/macros.h> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_PUSH | ||
| #include <boost/serialization/access.hpp> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_POP | ||
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| #include <tesseract_task_composer/core/task_composer_task.h> | ||
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| namespace tesseract_planning | ||
| { | ||
| class TaskComposerPluginFactory; | ||
| class AbortTask : public TaskComposerTask | ||
| { | ||
| public: | ||
| using Ptr = std::shared_ptr<AbortTask>; | ||
| using ConstPtr = std::shared_ptr<const AbortTask>; | ||
| using UPtr = std::unique_ptr<AbortTask>; | ||
| using ConstUPtr = std::unique_ptr<const AbortTask>; | ||
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| AbortTask(); | ||
| explicit AbortTask(std::string name, bool conditional); | ||
| explicit AbortTask(std::string name, const YAML::Node& config, const TaskComposerPluginFactory& plugin_factory); | ||
| ~AbortTask() override = default; | ||
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| bool operator==(const AbortTask& rhs) const; | ||
| bool operator!=(const AbortTask& rhs) const; | ||
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| protected: | ||
| friend struct tesseract_common::Serialization; | ||
| friend class boost::serialization::access; | ||
| template <class Archive> | ||
| void serialize(Archive& ar, const unsigned int version); // NOLINT | ||
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| TaskComposerNodeInfo::UPtr runImpl(TaskComposerInput& input, | ||
| OptionalTaskComposerExecutor executor = std::nullopt) const override final; | ||
| }; | ||
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| } // namespace tesseract_planning | ||
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| #include <boost/serialization/export.hpp> | ||
| BOOST_CLASS_EXPORT_KEY2(tesseract_planning::AbortTask, "AbortTask") | ||
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| #endif // TESSERACT_TASK_COMPOSER_ABORT_TASK_H |
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