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// ====================== test container ====================== // | |
{ | |
auto test_container = std::make_unique<Merger>("test container"); | |
{ | |
auto test_container2 = std::make_unique<SerialContainer>("test container2"); | |
// ====================== Move to Home ====================== // | |
{ | |
auto stage = std::make_unique<stages::MoveTo>("move home", sampling_planner); | |
stage->setGroup(arm_group_name_); | |
stage->setGoal(arm_home_pose_); | |
stage->restrictDirection(stages::MoveTo::FORWARD); | |
test_container2->insert(std::move(stage)); | |
} | |
// ====================== Open Hand ====================== // | |
{ | |
auto stage = std::make_unique<stages::MoveTo>("open hand", sampling_planner); | |
stage->setGroup(hand_group_name_); | |
stage->setGoal(hand_open_pose_); | |
stage->restrictDirection(stages::MoveTo::FORWARD); | |
// t.add(std::move(stage)); | |
test_container2->insert(std::move(stage)); | |
} | |
test_container.add(std::move(test_container2)); //by replacing add with insert dint helped | |
} | |
{ | |
auto test_container2 = std::make_unique<SerialContainer>("test container2"); | |
// ====================== Move to Home 2 ====================== // | |
{ | |
auto stage = std::make_unique<stages::MoveTo>("move home2", sampling_planner); | |
stage->setGroup(arm2_group_name_); | |
stage->setGoal(arm2_home_pose_); | |
stage->restrictDirection(stages::MoveTo::FORWARD); | |
test_container2->insert(std::move(stage)); | |
} | |
// ====================== Open Hand 2 ====================== // | |
{ | |
auto stage = std::make_unique<stages::MoveTo>("open hand2", sampling_planner); | |
stage->setGroup(hand2_group_name_); | |
stage->setGoal(hand2_open_pose_); | |
stage->restrictDirection(stages::MoveTo::FORWARD); | |
// t.add(std::move(stage)); | |
test_container2->insert(std::move(stage)); | |
} | |
test_container.add(std::move(test_container2)); //by replacing add with insert dint helped | |
} | |
t.add(std::move(test_container)); //t is task | |
} |
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